Package com.ctre.phoenixpro.configs

Class FeedbackConfigs

java.lang.Object

com.ctre.phoenixpro.configs.FeedbackConfigs

All Implemented Interfaces:

ParentConfiguration, ISerializable

public class FeedbackConfigs
extends Object
implements ParentConfiguration

Configs that directly affect motor-output.

Includes Motor Invert and various limit features.

Field Summary

Fields

Modifier and Type	Field	Description
int	FeedbackRemoteSensorID	Device ID of which remote device to use.
double	FeedbackRotorOffset	This offset is applied to the absolute integrated rotor sensor.
FeedbackSensorSourceValue	FeedbackSensorSource	Choose what sensor source is reported via API and used by closed-loop and limit features.
double	RotorToSensorRatio	Talon FX is capable of fusing a remote CANcoder with its rotor sensor to produce a high-bandwidth sensor source.
double	SensorToMechanismRatio	This is the ratio of sensor rotations to the mechanism's output.

Constructor Summary

Constructors

Constructor	Description
FeedbackConfigs()

Method Summary

Modifier and Type	Method	Description
StatusCode	deserialize(String string)
String	serialize()
String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

FeedbackRotorOffset

public double FeedbackRotorOffset

This offset is applied to the absolute integrated rotor sensor. This can be used to zero the rotor in applications that are within one rotor rotation.

• Minimum Value: -1
• Maximum Value: 1
• Default Value: 0.0
• Units: rotations

SensorToMechanismRatio

public double SensorToMechanismRatio

This is the ratio of sensor rotations to the mechanism's output. This is equivalent to the mechanism's gear ratio if the sensor is located on the input of a gearbox. If sensor is on the output of a gearbox, then this is typically set to 1. Note if this is set to zero, device will reset back to one.

• Minimum Value: -1000
• Maximum Value: 1000
• Default Value: 1.0
• Units: scalar

RotorToSensorRatio

public double RotorToSensorRatio

Talon FX is capable of fusing a remote CANcoder with its rotor sensor to produce a high-bandwidth sensor source. This feature requires specifying the ratio between the remote sensor and the motor rotor. Note if this is set to zero, device will reset back to one.

• Minimum Value: -1000
• Maximum Value: 1000
• Default Value: 1.0
• Units: scalar

FeedbackSensorSource

public FeedbackSensorSourceValue FeedbackSensorSource

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.

FeedbackRemoteSensorID

public int FeedbackRemoteSensorID

Device ID of which remote device to use. This is not used if the Sensor Source is the internal rotor sensor.

• Minimum Value: 0
• Maximum Value: 62
• Default Value: 0
• Units:

Constructor Details

FeedbackConfigs

public FeedbackConfigs()

Method Details

toString

public String toString()

Overrides:

toString in class Object

deserialize

public StatusCode deserialize(String string)

Specified by:

deserialize in interface ParentConfiguration

serialize

public String serialize()

Specified by:

serialize in interface ISerializable