ctre::phoenixpro::signals::FeedbackSensorSourceValue Class Reference

Choose what sensor source is reported via API and used by closed-loop and limit features. More...

#include <ctre/phoenixpro/signals/SpnEnums.hpp>

Inheritance diagram for ctre::phoenixpro::signals::FeedbackSensorSourceValue:

Public Member Functions
	FeedbackSensorSourceValue (int value)
	FeedbackSensorSourceValue ()
std::string	ToString () const
	Gets the string representation of this enum. More...
std::string	Serialize () const
bool	operator== (const FeedbackSensorSourceValue &data) const
bool	operator== (int data) const
bool	operator< (const FeedbackSensorSourceValue &data) const
bool	operator< (int data) const
virtual std::string	Serialize () const =0

Public Attributes
int	value

Static Public Attributes
static constexpr int	RotorSensor = 0
static constexpr int	RemoteCANcoder = 1
static constexpr int	FusedCANcoder = 5

Friends
std::ostream &	operator<< (std::ostream &os, const FeedbackSensorSourceValue &data)

Detailed Description

Choose what sensor source is reported via API and used by closed-loop and limit features.

The default is RotorSensor, which uses the internal rotor sensor in the Talon FX. Choose RemoteCANcoder to use another CANcoder on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon FX will update its position and velocity whenever CANcoder publishes its information on CAN bus. Choose FusedCANcoder and Talon FX will fuse another CANcoder's information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth (note this requires setting FeedbackRemoteSensorID). FusedCANcoder was developed for applications such as swerve-azimuth.

Note: When the Talon Source is changed to FusedCANcoder, the Talon needs a period of time to fuse before sensor-based (soft-limit, closed loop, etc.) features are used. This period of time is determined by the update frequency of the CANcoder's Position signal.

Constructor & Destructor Documentation

FeedbackSensorSourceValue() [1/2]

ctre::phoenixpro::signals::FeedbackSensorSourceValue::FeedbackSensorSourceValue ( int  value )

inline

FeedbackSensorSourceValue() [2/2]

ctre::phoenixpro::signals::FeedbackSensorSourceValue::FeedbackSensorSourceValue ( )

inline

Member Function Documentation

operator<() [1/2]

bool ctre::phoenixpro::signals::FeedbackSensorSourceValue::operator< ( const FeedbackSensorSourceValue &  data ) const

inline

operator<() [2/2]

bool ctre::phoenixpro::signals::FeedbackSensorSourceValue::operator< ( int  data ) const

inline

operator==() [1/2]

bool ctre::phoenixpro::signals::FeedbackSensorSourceValue::operator== ( const FeedbackSensorSourceValue &  data ) const

inline

operator==() [2/2]

bool ctre::phoenixpro::signals::FeedbackSensorSourceValue::operator== ( int  data ) const

inline

Serialize()

std::string ctre::phoenixpro::signals::FeedbackSensorSourceValue::Serialize ( ) const

inlinevirtual

Implements ctre::phoenixpro::ISerializable.

ToString()

std::string ctre::phoenixpro::signals::FeedbackSensorSourceValue::ToString ( ) const

inline

Gets the string representation of this enum.

Returns

String representation of this enum

Friends And Related Function Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, const FeedbackSensorSourceValue &  data  )

friend

Member Data Documentation

FusedCANcoder

constexpr int ctre::phoenixpro::signals::FeedbackSensorSourceValue::FusedCANcoder = 5

staticconstexpr

RemoteCANcoder

constexpr int ctre::phoenixpro::signals::FeedbackSensorSourceValue::RemoteCANcoder = 1

staticconstexpr

RotorSensor

constexpr int ctre::phoenixpro::signals::FeedbackSensorSourceValue::RotorSensor = 0

staticconstexpr

value

int ctre::phoenixpro::signals::FeedbackSensorSourceValue::value

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The documentation for this class was generated from the following file:

• ctre/phoenixpro/signals/SpnEnums.hpp