Package com.ctre.phoenixpro.configs

Class TalonFXConfiguration

java.lang.Object

com.ctre.phoenixpro.configs.TalonFXConfiguration

All Implemented Interfaces:

ParentConfiguration, ISerializable

public class TalonFXConfiguration
extends Object
implements ParentConfiguration

Class description for the Talon FX integrated motor controller that runs on associated Falcon motors. This handles the configurations for the TalonFX

Field Summary

Fields

Modifier and Type	Field	Description
AudioConfigs	Audio	Configs that directly affect motor-output.
ClosedLoopGeneralConfigs	ClosedLoopGeneral	Configs that affect general behavior during closed-looping.
ClosedLoopRampsConfigs	ClosedLoopRamps	Configs that directly affect motor-output.
CurrentLimitsConfigs	CurrentLimits	Configs that directly affect current limiting features.
CustomParamsConfigs	CustomParams	Configs that directly affect motor-output.
FeedbackConfigs	Feedback	Configs that directly affect motor-output.
boolean	FutureProofConfigs	True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.
HardwareLimitSwitchConfigs	HardwareLimitSwitch	Configs that directly affect motor-output.
MotionMagicConfigs	MotionMagic	Configs that directly affect motor-output.
MotorOutputConfigs	MotorOutput	Configs that directly affect motor-output.
OpenLoopRampsConfigs	OpenLoopRamps	Configs that directly affect motor-output.
Slot0Configs	Slot0	What the gains for slot 0 are
Slot1Configs	Slot1	What the gains for slot 1 are
Slot2Configs	Slot2	What the gains for slot 2 are
SoftwareLimitSwitchConfigs	SoftwareLimitSwitch	Configs that directly affect motor-output.
TorqueCurrentConfigs	TorqueCurrent	Configs that directly affect motor-output.
VoltageConfigs	Voltage	Voltage-specific configs

Constructor Summary

Constructors

Constructor	Description
TalonFXConfiguration()

Method Summary

Modifier and Type	Method	Description
StatusCode	deserialize(String string)	Take a string and deserialize it to this configuration
String	serialize()	Get the serialized form of this configuration
String	toString()

Methods inherited from class java.lang.Object

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

Field Details

FutureProofConfigs

public boolean FutureProofConfigs

True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.

This flag addresses a corner case where the device may have firmware with newer configs that didn't exist when this version of the API was built. If this occurs and this flag is true, unsupported new configs will be factory defaulted to avoid unexpected behavior.

This is also the behavior in Phoenix 5, so this flag is defaulted to true to match.

Slot0

public Slot0Configs Slot0

What the gains for slot 0 are

If this slot is selected, these gains are used in closed loop control requests.

Slot1

public Slot1Configs Slot1

What the gains for slot 1 are

If this slot is selected, these gains are used in closed loop control requests.

Slot2

public Slot2Configs Slot2

What the gains for slot 2 are

If this slot is selected, these gains are used in closed loop control requests.

MotorOutput

public MotorOutputConfigs MotorOutput

Configs that directly affect motor-output.

Includes Motor Invert and various limit features.

CurrentLimits

public CurrentLimitsConfigs CurrentLimits

Configs that directly affect current limiting features.

Includes Motor Invert and various limit features.

Voltage

public VoltageConfigs Voltage

Voltage-specific configs

Voltage-specific configs

TorqueCurrent

public TorqueCurrentConfigs TorqueCurrent

Configs that directly affect motor-output.

Includes Motor Invert and various limit features.

Feedback

public FeedbackConfigs Feedback

Configs that directly affect motor-output.

Includes Motor Invert and various limit features.

OpenLoopRamps

public OpenLoopRampsConfigs OpenLoopRamps

Configs that directly affect motor-output.

Includes Motor Invert and various limit features.

ClosedLoopRamps

public ClosedLoopRampsConfigs ClosedLoopRamps

Configs that directly affect motor-output.

Includes Motor Invert and various limit features.

HardwareLimitSwitch

public HardwareLimitSwitchConfigs HardwareLimitSwitch

Configs that directly affect motor-output.

Includes Motor Invert and various limit features.

Audio

public AudioConfigs Audio

Configs that directly affect motor-output.

Includes Motor Invert and various limit features.

SoftwareLimitSwitch

public SoftwareLimitSwitchConfigs SoftwareLimitSwitch

Configs that directly affect motor-output.

Includes Motor Invert and various limit features.

MotionMagic

public MotionMagicConfigs MotionMagic

Configs that directly affect motor-output.

Includes Motor Invert and various limit features.

CustomParams

public CustomParamsConfigs CustomParams

Configs that directly affect motor-output.

Includes Motor Invert and various limit features.

ClosedLoopGeneral

public ClosedLoopGeneralConfigs ClosedLoopGeneral

Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features.

Constructor Details

TalonFXConfiguration

public TalonFXConfiguration()

Method Details

toString

public String toString()

Overrides:

toString in class Object

serialize

public String serialize()

Get the serialized form of this configuration

Specified by:

serialize in interface ISerializable

Returns:

Serialized form of this config group

deserialize

public StatusCode deserialize(String string)

Take a string and deserialize it to this configuration

Specified by:

deserialize in interface ParentConfiguration

Returns:

Return code of the deserialize method