Package com.ctre.phoenixpro.hardware

Class TalonFX

java.lang.Object

com.ctre.phoenixpro.jni.CtreJniWrapper

com.ctre.phoenixpro.hardware.ParentDevice

com.ctre.phoenixpro.hardware.core.CoreTalonFX

com.ctre.phoenixpro.hardware.TalonFX

All Implemented Interfaces:

Sendable, MotorController, AutoCloseable

public class TalonFX
extends CoreTalonFX
implements MotorController, Sendable, AutoCloseable

Nested Class Summary

Nested classes/interfaces inherited from class com.ctre.phoenixpro.hardware.ParentDevice

ParentDevice.MapGenerator<T>

Field Summary

Fields

Modifier and Type	Field	Description
static double	kDefaultSafetyExpiration	The default motor safety timeout IF calling application enables the feature.

Fields inherited from class com.ctre.phoenixpro.hardware.ParentDevice

deviceIdentifier, kDefaultControlRatePeriodsSec

Constructor Summary

Constructors

Constructor	Description
TalonFX(int deviceId)	Constructs a new Talon FX motor controller object.
TalonFX(int deviceId, String canbus)	Constructs a new Talon FX motor controller object.

Method Summary

Modifier and Type	Method	Description
void	close()
void	disable()	Common interface for disabling a motor controller.
void	feed()	Feed the motor safety object.
double	get()	Common interface for getting the current set speed of a motor controller.
String	getDescription()
double	getExpiration()	Retrieve the timeout value for the corresponding motor safety object.
boolean	getInverted()	Common interface for returning the inversion state of a motor controller.
void	initSendable(SendableBuilder builder)
boolean	isAlive()	Determine of the motor is still operating or has timed out.
boolean	isSafetyEnabled()	Return the state of the motor safety enabled flag.
void	set(double speed)	Common interface for setting the speed of a motor controller.
protected StatusCode	setControlPrivate(ControlRequest request)
void	setExpiration(double expirationTime)	Set the expiration time for the corresponding motor safety object.
void	setInverted(boolean isInverted)	Common interface for inverting direction of a motor controller.
void	setSafetyEnabled(boolean enabled)	Enable/disable motor safety for this device.
void	setVoltage(double volts)	Common interface for seting the direct voltage output of a motor controller.
void	stopMotor()	Common interface to stop motor movement until set is called again.

Methods inherited from class com.ctre.phoenixpro.hardware.core.CoreTalonFX

clearStickyFaults, clearStickyFaults, getAppliedRotorPolarity, getBridgeOuput, getClosedLoopDerivativeOutput, getClosedLoopError, getClosedLoopFeedForward, getClosedLoopIntegratedOutput, getClosedLoopOutput, getClosedLoopProportionalOutput, getClosedLoopReference, getClosedLoopReferenceSlope, getClosedLoopSlot, getConfigurator, getControlMode, getDeviceEnable, getDeviceTemp, getDutyCycle, getFault_BootDuringEnable, getFault_DeviceTemp, getFault_ForwardHardLimit, getFault_ForwardSoftLimit, getFault_FusedSensorOutOfSync, getFault_Hardware, getFault_MissingRemoteSensor, getFault_OverSupplyV, getFault_ProcTemp, getFault_ReverseHardLimit, getFault_ReverseSoftLimit, getFault_StatorCurrLimit, getFault_SupplyCurrLimit, getFault_Undervoltage, getFault_UnstableSupplyV, getFaultField, getForwardLimit, getMotionMagicIsRunning, getPosition, getProcessorTemp, getReverseLimit, getRotorPosition, getRotorVelocity, getSimState, getStatorCurrent, getStickyFault_BootDuringEnable, getStickyFault_DeviceTemp, getStickyFault_ForwardHardLimit, getStickyFault_ForwardSoftLimit, getStickyFault_FusedSensorOutOfSync, getStickyFault_Hardware, getStickyFault_MissingRemoteSensor, getStickyFault_OverSupplyV, getStickyFault_ProcTemp, getStickyFault_ReverseHardLimit, getStickyFault_ReverseSoftLimit, getStickyFault_StatorCurrLimit, getStickyFault_SupplyCurrLimit, getStickyFault_Undervoltage, getStickyFault_UnstableSupplyV, getStickyFaultField, getSupplyCurrent, getSupplyVoltage, getTorqueCurrent, getVelocity, getVersion, getVersionBugfix, getVersionBuild, getVersionMajor, getVersionMinor, hasResetOccurred, reportIfTooOld, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setControl, setRotorPosition, setRotorPosition

Methods inherited from class com.ctre.phoenixpro.hardware.ParentDevice

getAppliedControl, getCANBus, getDeviceID, lookupStatusSignalValue, lookupStatusSignalValue

Methods inherited from class java.lang.Object

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

Field Details

kDefaultSafetyExpiration

public static final double kDefaultSafetyExpiration

The default motor safety timeout IF calling application enables the feature.

See Also:

Constant Field Values

Constructor Details

TalonFX

public TalonFX(int deviceId)

Constructs a new Talon FX motor controller object.

Constructs the device using the default CAN bus for the system:

• "rio" on roboRIO
• "can0" on Linux
• "*" on Windows

Parameters:

deviceId - ID of the device, as configured in Phoenix Tuner.

TalonFX

public TalonFX(int deviceId, String canbus)

Constructs a new Talon FX motor controller object.

Parameters:

deviceId - ID of the device, as configured in Phoenix Tuner.

canbus - Name of the CAN bus this device is on. Possible CAN bus strings are:

• "rio" for the native roboRIO CAN bus
• CANivore name or serial number
• SocketCAN interface (non-FRC Linux only)
• "*" for any CANivore seen by the program
• empty string (default) to select the default for the system:
  • "rio" on roboRIO
  • "can0" on Linux
  • "*" on Windows

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

set

public void set(double speed)

Common interface for setting the speed of a motor controller.

Specified by:

set in interface MotorController

Parameters:

speed - The speed to set. Value should be between -1.0 and 1.0.

setVoltage

public void setVoltage(double volts)

Common interface for seting the direct voltage output of a motor controller.

Specified by:

setVoltage in interface MotorController

Parameters:

volts - The voltage to output.

get

public double get()

Common interface for getting the current set speed of a motor controller.

Specified by:

get in interface MotorController

Returns:

The current set speed. Value is between -1.0 and 1.0.

setControlPrivate

protected StatusCode setControlPrivate(ControlRequest request)

Overrides:

setControlPrivate in class ParentDevice

disable

public void disable()

Common interface for disabling a motor controller.

Specified by:

disable in interface MotorController

stopMotor

public void stopMotor()

Common interface to stop motor movement until set is called again.

Specified by:

stopMotor in interface MotorController

setInverted

public void setInverted(boolean isInverted)

Common interface for inverting direction of a motor controller.

Specified by:

setInverted in interface MotorController

Parameters:

isInverted - The state of inversion, true is inverted.

getInverted

public boolean getInverted()

Common interface for returning the inversion state of a motor controller.

Specified by:

getInverted in interface MotorController

Returns:

The state of the inversion, true is inverted.

initSendable

public void initSendable(SendableBuilder builder)

Specified by:

initSendable in interface Sendable

getDescription

public String getDescription()

Returns:

Description of motor controller

feed

public void feed()

Feed the motor safety object.

Resets the timer on this object that is used to do the timeouts.

setExpiration

public void setExpiration(double expirationTime)

Set the expiration time for the corresponding motor safety object.

Parameters:

expirationTime - The timeout value in seconds.

getExpiration

public double getExpiration()

Retrieve the timeout value for the corresponding motor safety object.

Returns:

the timeout value in seconds.

isAlive

public boolean isAlive()

Determine of the motor is still operating or has timed out.

Returns:

a true value if the motor is still operating normally and hasn't timed out.

setSafetyEnabled

public void setSafetyEnabled(boolean enabled)

Enable/disable motor safety for this device.

Turn on and off the motor safety option for this PWM object.

Parameters:

enabled - True if motor safety is enforced for this object

isSafetyEnabled

public boolean isSafetyEnabled()

Return the state of the motor safety enabled flag.

Return if the motor safety is currently enabled for this device.

Returns:

True if motor safety is enforced for this device