CTRE Phoenix 6 C++ 24.2.0
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Class description for the Talon FX integrated motor controller. More...
#include <ctre/phoenix6/core/CoreTalonFX.hpp>
Public Member Functions | |
CoreTalonFX (int deviceId, std::string canbus="") | |
Constructs a new Talon FX motor controller object. More... | |
CoreTalonFX (CoreTalonFX const &)=delete | |
CoreTalonFX & | operator= (CoreTalonFX const &)=delete |
configs::TalonFXConfigurator & | GetConfigurator () |
Gets the configurator for this TalonFX. More... | |
configs::TalonFXConfigurator const & | GetConfigurator () const |
Gets the configurator for this TalonFX. More... | |
sim::TalonFXSimState & | GetSimState () |
Get the simulation state for this device. More... | |
StatusSignal< int > & | GetVersionMajor () |
App Major Version number. More... | |
StatusSignal< int > & | GetVersionMinor () |
App Minor Version number. More... | |
StatusSignal< int > & | GetVersionBugfix () |
App Bugfix Version number. More... | |
StatusSignal< int > & | GetVersionBuild () |
App Build Version number. More... | |
StatusSignal< int > & | GetVersion () |
Full Version. More... | |
StatusSignal< int > & | GetFaultField () |
Integer representing all faults. More... | |
StatusSignal< int > & | GetStickyFaultField () |
Integer representing all sticky faults. More... | |
StatusSignal< units::voltage::volt_t > & | GetMotorVoltage () |
The applied (output) motor voltage. More... | |
StatusSignal< signals::ForwardLimitValue > & | GetForwardLimit () |
Forward Limit Pin. More... | |
StatusSignal< signals::ReverseLimitValue > & | GetReverseLimit () |
Reverse Limit Pin. More... | |
StatusSignal< signals::AppliedRotorPolarityValue > & | GetAppliedRotorPolarity () |
The applied rotor polarity. More... | |
StatusSignal< units::dimensionless::scalar_t > & | GetDutyCycle () |
The applied motor duty cycle. More... | |
StatusSignal< units::current::ampere_t > & | GetTorqueCurrent () |
Current corresponding to the torque output by the motor. More... | |
StatusSignal< units::current::ampere_t > & | GetStatorCurrent () |
Current corresponding to the stator windings. More... | |
StatusSignal< units::current::ampere_t > & | GetSupplyCurrent () |
Measured supply side current. More... | |
StatusSignal< units::voltage::volt_t > & | GetSupplyVoltage () |
Measured supply voltage to the TalonFX. More... | |
StatusSignal< units::temperature::celsius_t > & | GetDeviceTemp () |
Temperature of device. More... | |
StatusSignal< units::temperature::celsius_t > & | GetProcessorTemp () |
Temperature of the processor. More... | |
StatusSignal< units::angular_velocity::turns_per_second_t > & | GetRotorVelocity () |
Velocity of the motor rotor. More... | |
StatusSignal< units::angle::turn_t > & | GetRotorPosition () |
Position of the motor rotor. More... | |
StatusSignal< units::angular_velocity::turns_per_second_t > & | GetVelocity () |
Velocity of the device in mechanism rotations per second. More... | |
StatusSignal< units::angle::turn_t > & | GetPosition () |
Position of the device in mechanism rotations. More... | |
StatusSignal< units::angular_acceleration::turns_per_second_squared_t > & | GetAcceleration () |
Acceleration of the device in mechanism rotations per second². More... | |
StatusSignal< signals::ControlModeValue > & | GetControlMode () |
The active control mode of the motor controller. More... | |
StatusSignal< signals::MotionMagicIsRunningValue > & | GetMotionMagicIsRunning () |
Check if Motion MagicĀ® is running. More... | |
StatusSignal< signals::DeviceEnableValue > & | GetDeviceEnable () |
Indicates if device is actuator enabled. More... | |
StatusSignal< int > & | GetClosedLoopSlot () |
Closed loop slot in use. More... | |
StatusSignal< signals::DifferentialControlModeValue > & | GetDifferentialControlMode () |
The active control mode of the differential controller. More... | |
StatusSignal< units::angular_velocity::turns_per_second_t > & | GetDifferentialAverageVelocity () |
Average component of the differential velocity of device. More... | |
StatusSignal< units::angle::turn_t > & | GetDifferentialAveragePosition () |
Average component of the differential position of device. More... | |
StatusSignal< units::angular_velocity::turns_per_second_t > & | GetDifferentialDifferenceVelocity () |
Difference component of the differential velocity of device. More... | |
StatusSignal< units::angle::turn_t > & | GetDifferentialDifferencePosition () |
Difference component of the differential position of device. More... | |
StatusSignal< int > & | GetDifferentialClosedLoopSlot () |
Differential Closed loop slot in use. More... | |
StatusSignal< signals::BridgeOutputValue > & | GetBridgeOutput () |
The applied output of the bridge. More... | |
StatusSignal< bool > & | GetIsProLicensed () |
Whether the device is Phoenix Pro licensed. More... | |
StatusSignal< units::temperature::celsius_t > & | GetAncillaryDeviceTemp () |
Temperature of device from second sensor. More... | |
StatusSignal< signals::MotorTypeValue > & | GetMotorType () |
The type of motor attached to the Talon FX. More... | |
StatusSignal< bool > & | GetFault_Hardware () |
Hardware fault occurred. More... | |
StatusSignal< bool > & | GetStickyFault_Hardware () |
Hardware fault occurred. More... | |
StatusSignal< bool > & | GetFault_ProcTemp () |
Processor temperature exceeded limit. More... | |
StatusSignal< bool > & | GetStickyFault_ProcTemp () |
Processor temperature exceeded limit. More... | |
StatusSignal< bool > & | GetFault_DeviceTemp () |
Device temperature exceeded limit. More... | |
StatusSignal< bool > & | GetStickyFault_DeviceTemp () |
Device temperature exceeded limit. More... | |
StatusSignal< bool > & | GetFault_Undervoltage () |
Device supply voltage dropped to near brownout levels. More... | |
StatusSignal< bool > & | GetStickyFault_Undervoltage () |
Device supply voltage dropped to near brownout levels. More... | |
StatusSignal< bool > & | GetFault_BootDuringEnable () |
Device boot while detecting the enable signal. More... | |
StatusSignal< bool > & | GetStickyFault_BootDuringEnable () |
Device boot while detecting the enable signal. More... | |
StatusSignal< bool > & | GetFault_UnlicensedFeatureInUse () |
An unlicensed feature is in use, device may not behave as expected. More... | |
StatusSignal< bool > & | GetStickyFault_UnlicensedFeatureInUse () |
An unlicensed feature is in use, device may not behave as expected. More... | |
StatusSignal< bool > & | GetFault_BridgeBrownout () |
Bridge was disabled most likely due to supply voltage dropping too low. More... | |
StatusSignal< bool > & | GetStickyFault_BridgeBrownout () |
Bridge was disabled most likely due to supply voltage dropping too low. More... | |
StatusSignal< bool > & | GetFault_RemoteSensorReset () |
The remote sensor has reset. More... | |
StatusSignal< bool > & | GetStickyFault_RemoteSensorReset () |
The remote sensor has reset. More... | |
StatusSignal< bool > & | GetFault_MissingDifferentialFX () |
The remote Talon FX used for differential control is not present on CAN Bus. More... | |
StatusSignal< bool > & | GetStickyFault_MissingDifferentialFX () |
The remote Talon FX used for differential control is not present on CAN Bus. More... | |
StatusSignal< bool > & | GetFault_RemoteSensorPosOverflow () |
The remote sensor position has overflowed. More... | |
StatusSignal< bool > & | GetStickyFault_RemoteSensorPosOverflow () |
The remote sensor position has overflowed. More... | |
StatusSignal< bool > & | GetFault_OverSupplyV () |
Supply Voltage has exceeded the maximum voltage rating of device. More... | |
StatusSignal< bool > & | GetStickyFault_OverSupplyV () |
Supply Voltage has exceeded the maximum voltage rating of device. More... | |
StatusSignal< bool > & | GetFault_UnstableSupplyV () |
Supply Voltage is unstable. More... | |
StatusSignal< bool > & | GetStickyFault_UnstableSupplyV () |
Supply Voltage is unstable. More... | |
StatusSignal< bool > & | GetFault_ReverseHardLimit () |
Reverse limit switch has been asserted. More... | |
StatusSignal< bool > & | GetStickyFault_ReverseHardLimit () |
Reverse limit switch has been asserted. More... | |
StatusSignal< bool > & | GetFault_ForwardHardLimit () |
Forward limit switch has been asserted. More... | |
StatusSignal< bool > & | GetStickyFault_ForwardHardLimit () |
Forward limit switch has been asserted. More... | |
StatusSignal< bool > & | GetFault_ReverseSoftLimit () |
Reverse soft limit has been asserted. More... | |
StatusSignal< bool > & | GetStickyFault_ReverseSoftLimit () |
Reverse soft limit has been asserted. More... | |
StatusSignal< bool > & | GetFault_ForwardSoftLimit () |
Forward soft limit has been asserted. More... | |
StatusSignal< bool > & | GetStickyFault_ForwardSoftLimit () |
Forward soft limit has been asserted. More... | |
StatusSignal< bool > & | GetFault_RemoteSensorDataInvalid () |
The remote sensor's data is no longer trusted. More... | |
StatusSignal< bool > & | GetStickyFault_RemoteSensorDataInvalid () |
The remote sensor's data is no longer trusted. More... | |
StatusSignal< bool > & | GetFault_FusedSensorOutOfSync () |
The remote sensor used for fusion has fallen out of sync to the local sensor. More... | |
StatusSignal< bool > & | GetStickyFault_FusedSensorOutOfSync () |
The remote sensor used for fusion has fallen out of sync to the local sensor. More... | |
StatusSignal< bool > & | GetFault_StatorCurrLimit () |
Stator current limit occured. More... | |
StatusSignal< bool > & | GetStickyFault_StatorCurrLimit () |
Stator current limit occured. More... | |
StatusSignal< bool > & | GetFault_SupplyCurrLimit () |
Supply current limit occured. More... | |
StatusSignal< bool > & | GetStickyFault_SupplyCurrLimit () |
Supply current limit occured. More... | |
StatusSignal< bool > & | GetFault_UsingFusedCANcoderWhileUnlicensed () |
Using Fused CANcoder feature while unlicensed. More... | |
StatusSignal< bool > & | GetStickyFault_UsingFusedCANcoderWhileUnlicensed () |
Using Fused CANcoder feature while unlicensed. More... | |
StatusSignal< double > & | GetClosedLoopProportionalOutput () |
Closed loop proportional component. More... | |
StatusSignal< double > & | GetClosedLoopIntegratedOutput () |
Closed loop integrated component. More... | |
StatusSignal< double > & | GetClosedLoopFeedForward () |
Feedforward passed by the user. More... | |
StatusSignal< double > & | GetClosedLoopDerivativeOutput () |
Closed loop derivative component. More... | |
StatusSignal< double > & | GetClosedLoopOutput () |
Closed loop total output. More... | |
StatusSignal< double > & | GetClosedLoopReference () |
Value that the closed loop is targeting. More... | |
StatusSignal< double > & | GetClosedLoopReferenceSlope () |
Derivative of the target that the closed loop is targeting. More... | |
StatusSignal< double > & | GetClosedLoopError () |
The difference between target reference and current measurement. More... | |
StatusSignal< double > & | GetDifferentialOutput () |
The calculated motor output for differential followers. More... | |
StatusSignal< double > & | GetDifferentialClosedLoopProportionalOutput () |
Differential closed loop proportional component. More... | |
StatusSignal< double > & | GetDifferentialClosedLoopIntegratedOutput () |
Differential closed loop integrated component. More... | |
StatusSignal< double > & | GetDifferentialClosedLoopFeedForward () |
Differential Feedforward passed by the user. More... | |
StatusSignal< double > & | GetDifferentialClosedLoopDerivativeOutput () |
Differential closed loop derivative component. More... | |
StatusSignal< double > & | GetDifferentialClosedLoopOutput () |
Differential closed loop total output. More... | |
StatusSignal< double > & | GetDifferentialClosedLoopReference () |
Value that the differential closed loop is targeting. More... | |
StatusSignal< double > & | GetDifferentialClosedLoopReferenceSlope () |
Derivative of the target that the differential closed loop is targeting. More... | |
StatusSignal< double > & | GetDifferentialClosedLoopError () |
The difference between target differential reference and current measurement. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DutyCycleOut &request) |
Request a specified motor duty cycle. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DutyCycleOut &&request) |
Request a specified motor duty cycle. More... | |
ctre::phoenix::StatusCode | SetControl (controls::TorqueCurrentFOC &request) |
Request a specified motor current (field oriented control). More... | |
ctre::phoenix::StatusCode | SetControl (controls::TorqueCurrentFOC &&request) |
Request a specified motor current (field oriented control). More... | |
ctre::phoenix::StatusCode | SetControl (controls::VoltageOut &request) |
Request a specified voltage. More... | |
ctre::phoenix::StatusCode | SetControl (controls::VoltageOut &&request) |
Request a specified voltage. More... | |
ctre::phoenix::StatusCode | SetControl (controls::PositionDutyCycle &request) |
Request PID to target position with duty cycle feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::PositionDutyCycle &&request) |
Request PID to target position with duty cycle feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::PositionVoltage &request) |
Request PID to target position with voltage feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::PositionVoltage &&request) |
Request PID to target position with voltage feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::PositionTorqueCurrentFOC &request) |
Request PID to target position with torque current feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::PositionTorqueCurrentFOC &&request) |
Request PID to target position with torque current feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::VelocityDutyCycle &request) |
Request PID to target velocity with duty cycle feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::VelocityDutyCycle &&request) |
Request PID to target velocity with duty cycle feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::VelocityVoltage &request) |
Request PID to target velocity with voltage feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::VelocityVoltage &&request) |
Request PID to target velocity with voltage feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::VelocityTorqueCurrentFOC &request) |
Request PID to target velocity with torque current feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::VelocityTorqueCurrentFOC &&request) |
Request PID to target velocity with torque current feedforward. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicDutyCycle &request) |
Requests Motion MagicĀ® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicDutyCycle &&request) |
Requests Motion MagicĀ® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicVoltage &request) |
Requests Motion MagicĀ® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicVoltage &&request) |
Requests Motion MagicĀ® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicTorqueCurrentFOC &request) |
Requests Motion MagicĀ® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicTorqueCurrentFOC &&request) |
Requests Motion MagicĀ® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialDutyCycle &request) |
Request a specified motor duty cycle with a differential position closed-loop. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialDutyCycle &&request) |
Request a specified motor duty cycle with a differential position closed-loop. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialVoltage &request) |
Request a specified voltage with a differential position closed-loop. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialVoltage &&request) |
Request a specified voltage with a differential position closed-loop. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialPositionDutyCycle &request) |
Request PID to target position with a differential position setpoint. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialPositionDutyCycle &&request) |
Request PID to target position with a differential position setpoint. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialPositionVoltage &request) |
Request PID to target position with a differential position setpoint. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialPositionVoltage &&request) |
Request PID to target position with a differential position setpoint. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialVelocityDutyCycle &request) |
Request PID to target velocity with a differential position setpoint. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialVelocityDutyCycle &&request) |
Request PID to target velocity with a differential position setpoint. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialVelocityVoltage &request) |
Request PID to target velocity with a differential position setpoint. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialVelocityVoltage &&request) |
Request PID to target velocity with a differential position setpoint. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialMotionMagicDutyCycle &request) |
Requests Motion MagicĀ® to target a final position using a motion profile, and PID to a differential position setpoint. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialMotionMagicDutyCycle &&request) |
Requests Motion MagicĀ® to target a final position using a motion profile, and PID to a differential position setpoint. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialMotionMagicVoltage &request) |
Requests Motion MagicĀ® to target a final position using a motion profile, and PID to a differential position setpoint. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialMotionMagicVoltage &&request) |
Requests Motion MagicĀ® to target a final position using a motion profile, and PID to a differential position setpoint. More... | |
ctre::phoenix::StatusCode | SetControl (controls::Follower &request) |
Follow the motor output of another Talon. More... | |
ctre::phoenix::StatusCode | SetControl (controls::Follower &&request) |
Follow the motor output of another Talon. More... | |
ctre::phoenix::StatusCode | SetControl (controls::StrictFollower &request) |
Follow the motor output of another Talon while ignoring the master's invert setting. More... | |
ctre::phoenix::StatusCode | SetControl (controls::StrictFollower &&request) |
Follow the motor output of another Talon while ignoring the master's invert setting. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialFollower &request) |
Follow the differential motor output of another Talon. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialFollower &&request) |
Follow the differential motor output of another Talon. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialStrictFollower &request) |
Follow the differential motor output of another Talon while ignoring the master's invert setting. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DifferentialStrictFollower &&request) |
Follow the differential motor output of another Talon while ignoring the master's invert setting. More... | |
ctre::phoenix::StatusCode | SetControl (controls::NeutralOut &request) |
Request neutral output of actuator. More... | |
ctre::phoenix::StatusCode | SetControl (controls::NeutralOut &&request) |
Request neutral output of actuator. More... | |
ctre::phoenix::StatusCode | SetControl (controls::CoastOut &request) |
Request coast neutral output of actuator. More... | |
ctre::phoenix::StatusCode | SetControl (controls::CoastOut &&request) |
Request coast neutral output of actuator. More... | |
ctre::phoenix::StatusCode | SetControl (controls::StaticBrake &request) |
Applies full neutral-brake by shorting motor leads together. More... | |
ctre::phoenix::StatusCode | SetControl (controls::StaticBrake &&request) |
Applies full neutral-brake by shorting motor leads together. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MusicTone &request) |
Plays a single tone at the user specified frequency. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MusicTone &&request) |
Plays a single tone at the user specified frequency. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicVelocityDutyCycle &request) |
Requests Motion MagicĀ® to target a final velocity using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicVelocityDutyCycle &&request) |
Requests Motion MagicĀ® to target a final velocity using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicVelocityTorqueCurrentFOC &request) |
Requests Motion MagicĀ® to target a final velocity using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicVelocityTorqueCurrentFOC &&request) |
Requests Motion MagicĀ® to target a final velocity using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicVelocityVoltage &request) |
Requests Motion MagicĀ® to target a final velocity using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicVelocityVoltage &&request) |
Requests Motion MagicĀ® to target a final velocity using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicExpoDutyCycle &request) |
Requests Motion MagicĀ® to target a final position using an exponential motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicExpoDutyCycle &&request) |
Requests Motion MagicĀ® to target a final position using an exponential motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicExpoVoltage &request) |
Requests Motion MagicĀ® to target a final position using an exponential motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicExpoVoltage &&request) |
Requests Motion MagicĀ® to target a final position using an exponential motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicExpoTorqueCurrentFOC &request) |
Requests Motion MagicĀ® to target a final position using an exponential motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::MotionMagicExpoTorqueCurrentFOC &&request) |
Requests Motion MagicĀ® to target a final position using an exponential motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DynamicMotionMagicDutyCycle &request) |
Requests Motion MagicĀ® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DynamicMotionMagicDutyCycle &&request) |
Requests Motion MagicĀ® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DynamicMotionMagicVoltage &request) |
Requests Motion MagicĀ® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DynamicMotionMagicVoltage &&request) |
Requests Motion MagicĀ® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DynamicMotionMagicTorqueCurrentFOC &request) |
Requests Motion MagicĀ® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::DynamicMotionMagicTorqueCurrentFOC &&request) |
Requests Motion MagicĀ® to target a final position using a motion profile. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_DutyCycleOut_Position &request) |
Differential control with duty cycle average target and position difference target. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_DutyCycleOut_Position &&request) |
Differential control with duty cycle average target and position difference target. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_PositionDutyCycle_Position &request) |
Differential control with position average target and position difference target using dutycycle control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_PositionDutyCycle_Position &&request) |
Differential control with position average target and position difference target using dutycycle control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_VelocityDutyCycle_Position &request) |
Differential control with velocity average target and position difference target using dutycycle control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_VelocityDutyCycle_Position &&request) |
Differential control with velocity average target and position difference target using dutycycle control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_MotionMagicDutyCycle_Position &request) |
Differential control with Motion MagicĀ® average target and position difference target using dutycycle control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_MotionMagicDutyCycle_Position &&request) |
Differential control with Motion MagicĀ® average target and position difference target using dutycycle control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_DutyCycleOut_Velocity &request) |
Differential control with duty cycle average target and velocity difference target. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_DutyCycleOut_Velocity &&request) |
Differential control with duty cycle average target and velocity difference target. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_PositionDutyCycle_Velocity &request) |
Differential control with position average target and velocity difference target using dutycycle control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_PositionDutyCycle_Velocity &&request) |
Differential control with position average target and velocity difference target using dutycycle control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_VelocityDutyCycle_Velocity &request) |
Differential control with velocity average target and velocity difference target using dutycycle control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_VelocityDutyCycle_Velocity &&request) |
Differential control with velocity average target and velocity difference target using dutycycle control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_MotionMagicDutyCycle_Velocity &request) |
Differential control with Motion MagicĀ® average target and velocity difference target using dutycycle control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_MotionMagicDutyCycle_Velocity &&request) |
Differential control with Motion MagicĀ® average target and velocity difference target using dutycycle control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_VoltageOut_Position &request) |
Differential control with voltage average target and position difference target. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_VoltageOut_Position &&request) |
Differential control with voltage average target and position difference target. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_PositionVoltage_Position &request) |
Differential control with position average target and position difference target using voltage control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_PositionVoltage_Position &&request) |
Differential control with position average target and position difference target using voltage control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_VelocityVoltage_Position &request) |
Differential control with velocity average target and position difference target using voltage control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_VelocityVoltage_Position &&request) |
Differential control with velocity average target and position difference target using voltage control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_MotionMagicVoltage_Position &request) |
Differential control with Motion MagicĀ® average target and position difference target using voltage control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_MotionMagicVoltage_Position &&request) |
Differential control with Motion MagicĀ® average target and position difference target using voltage control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_VoltageOut_Velocity &request) |
Differential control with voltage average target and velocity difference target. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_VoltageOut_Velocity &&request) |
Differential control with voltage average target and velocity difference target. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_PositionVoltage_Velocity &request) |
Differential control with position average target and velocity difference target using voltage control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_PositionVoltage_Velocity &&request) |
Differential control with position average target and velocity difference target using voltage control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_VelocityVoltage_Velocity &request) |
Differential control with velocity average target and velocity difference target using voltage control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_VelocityVoltage_Velocity &&request) |
Differential control with velocity average target and velocity difference target using voltage control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_MotionMagicVoltage_Velocity &request) |
Differential control with Motion MagicĀ® average target and velocity difference target using voltage control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_MotionMagicVoltage_Velocity &&request) |
Differential control with Motion MagicĀ® average target and velocity difference target using voltage control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_TorqueCurrentFOC_Position &request) |
Differential control with torque current average target and position difference target. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_TorqueCurrentFOC_Position &&request) |
Differential control with torque current average target and position difference target. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_PositionTorqueCurrentFOC_Position &request) |
Differential control with position average target and position difference target using torque current control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_PositionTorqueCurrentFOC_Position &&request) |
Differential control with position average target and position difference target using torque current control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_VelocityTorqueCurrentFOC_Position &request) |
Differential control with velocity average target and position difference target using torque current control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_VelocityTorqueCurrentFOC_Position &&request) |
Differential control with velocity average target and position difference target using torque current control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_MotionMagicTorqueCurrentFOC_Position &request) |
Differential control with Motion MagicĀ® average target and position difference target using torque current control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_MotionMagicTorqueCurrentFOC_Position &&request) |
Differential control with Motion MagicĀ® average target and position difference target using torque current control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_TorqueCurrentFOC_Velocity &request) |
Differential control with torque current average target and velocity difference target. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_TorqueCurrentFOC_Velocity &&request) |
Differential control with torque current average target and velocity difference target. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_PositionTorqueCurrentFOC_Velocity &request) |
Differential control with position average target and velocity difference target using torque current control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_PositionTorqueCurrentFOC_Velocity &&request) |
Differential control with position average target and velocity difference target using torque current control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_VelocityTorqueCurrentFOC_Velocity &request) |
Differential control with velocity average target and velocity difference target using torque current control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_VelocityTorqueCurrentFOC_Velocity &&request) |
Differential control with velocity average target and velocity difference target using torque current control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_MotionMagicTorqueCurrentFOC_Velocity &request) |
Differential control with Motion MagicĀ® average target and velocity difference target using torque current control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::compound::Diff_MotionMagicTorqueCurrentFOC_Velocity &&request) |
Differential control with Motion MagicĀ® average target and velocity difference target using torque current control. More... | |
ctre::phoenix::StatusCode | SetControl (controls::ControlRequest &request) |
Control motor with generic control request object. More... | |
ctre::phoenix::StatusCode | SetControl (controls::ControlRequest &&request) |
Control motor with generic control request object. More... | |
ctre::phoenix::StatusCode | SetPosition (units::angle::turn_t newValue, units::time::second_t timeoutSeconds) |
Sets the mechanism position of the device in mechanism rotations. More... | |
ctre::phoenix::StatusCode | SetPosition (units::angle::turn_t newValue) |
Sets the mechanism position of the device in mechanism rotations. More... | |
ctre::phoenix::StatusCode | ClearStickyFaults (units::time::second_t timeoutSeconds) |
Clear the sticky faults in the device. More... | |
ctre::phoenix::StatusCode | ClearStickyFaults () |
Clear the sticky faults in the device. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_Hardware (units::time::second_t timeoutSeconds) |
Clear sticky fault: Hardware fault occurred. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_Hardware () |
Clear sticky fault: Hardware fault occurred. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_ProcTemp (units::time::second_t timeoutSeconds) |
Clear sticky fault: Processor temperature exceeded limit. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_ProcTemp () |
Clear sticky fault: Processor temperature exceeded limit. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_DeviceTemp (units::time::second_t timeoutSeconds) |
Clear sticky fault: Device temperature exceeded limit. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_DeviceTemp () |
Clear sticky fault: Device temperature exceeded limit. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_Undervoltage (units::time::second_t timeoutSeconds) |
Clear sticky fault: Device supply voltage dropped to near brownout levels. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_Undervoltage () |
Clear sticky fault: Device supply voltage dropped to near brownout levels. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_BootDuringEnable (units::time::second_t timeoutSeconds) |
Clear sticky fault: Device boot while detecting the enable signal. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_BootDuringEnable () |
Clear sticky fault: Device boot while detecting the enable signal. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_BridgeBrownout (units::time::second_t timeoutSeconds) |
Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_BridgeBrownout () |
Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_RemoteSensorReset (units::time::second_t timeoutSeconds) |
Clear sticky fault: The remote sensor has reset. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_RemoteSensorReset () |
Clear sticky fault: The remote sensor has reset. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_MissingDifferentialFX (units::time::second_t timeoutSeconds) |
Clear sticky fault: The remote Talon FX used for differential control is not present on CAN Bus. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_MissingDifferentialFX () |
Clear sticky fault: The remote Talon FX used for differential control is not present on CAN Bus. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_RemoteSensorPosOverflow (units::time::second_t timeoutSeconds) |
Clear sticky fault: The remote sensor position has overflowed. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_RemoteSensorPosOverflow () |
Clear sticky fault: The remote sensor position has overflowed. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_OverSupplyV (units::time::second_t timeoutSeconds) |
Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_OverSupplyV () |
Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_UnstableSupplyV (units::time::second_t timeoutSeconds) |
Clear sticky fault: Supply Voltage is unstable. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_UnstableSupplyV () |
Clear sticky fault: Supply Voltage is unstable. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_ReverseHardLimit (units::time::second_t timeoutSeconds) |
Clear sticky fault: Reverse limit switch has been asserted. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_ReverseHardLimit () |
Clear sticky fault: Reverse limit switch has been asserted. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_ForwardHardLimit (units::time::second_t timeoutSeconds) |
Clear sticky fault: Forward limit switch has been asserted. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_ForwardHardLimit () |
Clear sticky fault: Forward limit switch has been asserted. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_ReverseSoftLimit (units::time::second_t timeoutSeconds) |
Clear sticky fault: Reverse soft limit has been asserted. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_ReverseSoftLimit () |
Clear sticky fault: Reverse soft limit has been asserted. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_ForwardSoftLimit (units::time::second_t timeoutSeconds) |
Clear sticky fault: Forward soft limit has been asserted. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_ForwardSoftLimit () |
Clear sticky fault: Forward soft limit has been asserted. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_RemoteSensorDataInvalid (units::time::second_t timeoutSeconds) |
Clear sticky fault: The remote sensor's data is no longer trusted. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_RemoteSensorDataInvalid () |
Clear sticky fault: The remote sensor's data is no longer trusted. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_FusedSensorOutOfSync (units::time::second_t timeoutSeconds) |
Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_FusedSensorOutOfSync () |
Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_StatorCurrLimit (units::time::second_t timeoutSeconds) |
Clear sticky fault: Stator current limit occured. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_StatorCurrLimit () |
Clear sticky fault: Stator current limit occured. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_SupplyCurrLimit (units::time::second_t timeoutSeconds) |
Clear sticky fault: Supply current limit occured. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_SupplyCurrLimit () |
Clear sticky fault: Supply current limit occured. More... | |
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ParentDevice (int deviceID, std::string model, std::string canbus) | |
virtual | ~ParentDevice ()=default |
int | GetDeviceID () const |
const std::string & | GetNetwork () const |
uint64_t | GetDeviceHash () const |
Gets a number unique for this device's hardware type and ID. More... | |
std::shared_ptr< const controls::ControlRequest > | GetAppliedControl () const |
Get the latest applied control. More... | |
std::shared_ptr< controls::ControlRequest > | GetAppliedControl () |
Get the latest applied control. More... | |
bool | HasResetOccurred () |
std::function< bool()> | GetResetOccurredChecker () const |
StatusSignal< double > & | GetGenericSignal (uint32_t signal) |
This is a reserved routine for internal testing. More... | |
ctre::phoenix::StatusCode | OptimizeBusUtilization (units::time::second_t timeoutSeconds=50_ms) |
Optimizes the device's bus utilization by reducing the update frequencies of its status signals. More... | |
Additional Inherited Members | |
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template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>> | |
static ctre::phoenix::StatusCode | OptimizeBusUtilizationForAll (Devices &... devices) |
Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More... | |
static ctre::phoenix::StatusCode | OptimizeBusUtilizationForAll (const std::vector< ParentDevice * > &devices) |
Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More... | |
template<size_t N> | |
static ctre::phoenix::StatusCode | OptimizeBusUtilizationForAll (const std::array< ParentDevice *, N > &devices) |
Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More... | |
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virtual ctre::phoenix::StatusCode | SetControlPrivate (controls::ControlRequest &request) |
template<typename T > | |
StatusSignal< T > & | LookupStatusSignal (uint16_t spn, std::string signalName, bool reportOnConstruction) |
template<typename T > | |
StatusSignal< T > & | LookupStatusSignal (uint16_t spn, uint16_t mapper_iter, std::function< std::map< int, StatusSignal< T > >()> map_filler, std::string signalName, bool reportOnConstruction) |
template<typename T , typename U > | |
StatusSignal< T > | LookupDimensionlessStatusSignal (uint16_t spn, std::string signalName) |
Returns a unitless version of the StatusSignal by value. More... | |
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DeviceIdentifier | deviceIdentifier |
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static controls::EmptyControl | _emptyControl {} |
template<typename... Devices> | |
static constexpr bool | is_all_device_v = is_all_device<Devices...>::value |
Whether all types passed in are subclasses of ParentDevice. More... | |
Class description for the Talon FX integrated motor controller.
ctre::phoenix6::hardware::core::CoreTalonFX::CoreTalonFX | ( | int | deviceId, |
std::string | canbus = "" |
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Constructs a new Talon FX motor controller object.
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:
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Clear sticky fault: Device boot while detecting the enable signal.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Device boot while detecting the enable signal.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Device temperature exceeded limit.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Device temperature exceeded limit.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Forward limit switch has been asserted.
Output is set to neutral.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Forward limit switch has been asserted.
Output is set to neutral.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Forward soft limit has been asserted.
Output is set to neutral.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Forward soft limit has been asserted.
Output is set to neutral.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.
A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.
A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Hardware fault occurred.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Hardware fault occurred.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: The remote Talon FX used for differential control is not present on CAN Bus.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: The remote Talon FX used for differential control is not present on CAN Bus.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Processor temperature exceeded limit.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Processor temperature exceeded limit.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: The remote sensor's data is no longer trusted.
This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: The remote sensor's data is no longer trusted.
This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: The remote sensor position has overflowed.
Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: The remote sensor position has overflowed.
Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: The remote sensor has reset.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: The remote sensor has reset.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Reverse limit switch has been asserted.
Output is set to neutral.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Reverse limit switch has been asserted.
Output is set to neutral.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Reverse soft limit has been asserted.
Output is set to neutral.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Reverse soft limit has been asserted.
Output is set to neutral.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Stator current limit occured.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Stator current limit occured.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Supply current limit occured.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Supply current limit occured.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Device supply voltage dropped to near brownout levels.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Device supply voltage dropped to near brownout levels.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Supply Voltage is unstable.
Ensure you are using a battery and current limited power supply.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Supply Voltage is unstable.
Ensure you are using a battery and current limited power supply.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear the sticky faults in the device.
This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.
This will wait up to 0.050 seconds (50ms) by default.
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Clear the sticky faults in the device.
This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.
timeoutSeconds | Maximum time to wait up to in seconds. |
StatusSignal< units::angular_acceleration::turns_per_second_squared_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetAcceleration | ( | ) |
Acceleration of the device in mechanism rotations per second².
This can be the acceleration of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs.
Minimum Value: -2048.0 Maximum Value: 2047.75 Default Value: 0 Units: rotations per second²
Default Rates: CAN 2.0: 50.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::temperature::celsius_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetAncillaryDeviceTemp | ( | ) |
Temperature of device from second sensor.
Newer versions of Talon FX have multiple temperature measurement methods.
Minimum Value: 0.0 Maximum Value: 255.0 Default Value: 0 Units: ā
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< signals::AppliedRotorPolarityValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetAppliedRotorPolarity | ( | ) |
The applied rotor polarity.
This typically is determined by the Inverted config, but can be overridden if using Follower features.
Default Rates: CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< signals::BridgeOutputValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetBridgeOutput | ( | ) |
The applied output of the bridge.
Default Rates: CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopDerivativeOutput | ( | ) |
Closed loop derivative component.
The portion of the closed loop output that is the proportional to the deriviative the error. Alternatively, the d-Contribution of the closed loop output.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopError | ( | ) |
The difference between target reference and current measurement.
This is the value that is treated as the error in the PID loop.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopFeedForward | ( | ) |
Feedforward passed by the user.
This is the general feedforward that the user provides for the closed loop.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopIntegratedOutput | ( | ) |
Closed loop integrated component.
The portion of the closed loop output that is proportional to the integrated error. Alternatively, the i-Contribution of the closed loop output.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopOutput | ( | ) |
Closed loop total output.
The total output of the closed loop output.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopProportionalOutput | ( | ) |
Closed loop proportional component.
The portion of the closed loop output that is the proportional to the error. Alternatively, the p-Contribution of the closed loop output.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopReference | ( | ) |
Value that the closed loop is targeting.
This is the value that the closed loop PID controller targets.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopReferenceSlope | ( | ) |
Derivative of the target that the closed loop is targeting.
This is the change in the closed loop reference. This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion MagicĀ®.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetClosedLoopSlot | ( | ) |
Closed loop slot in use.
This is the slot that the closed loop PID is using.
Minimum Value: 0 Maximum Value: 2 Default Value: 0 Units:
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
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StatusSignal< signals::ControlModeValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetControlMode | ( | ) |
The active control mode of the motor controller.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< signals::DeviceEnableValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDeviceEnable | ( | ) |
Indicates if device is actuator enabled.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::temperature::celsius_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDeviceTemp | ( | ) |
Temperature of device.
This is the temperature that the device measures itself to be at. Similar to Processor Temperature.
Minimum Value: 0.0 Maximum Value: 255.0 Default Value: 0 Units: ā
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialAveragePosition | ( | ) |
Average component of the differential position of device.
Minimum Value: -16384.0 Maximum Value: 16383.999755859375 Default Value: 0 Units: rotations
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::angular_velocity::turns_per_second_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialAverageVelocity | ( | ) |
Average component of the differential velocity of device.
Minimum Value: -512.0 Maximum Value: 511.998046875 Default Value: 0 Units: rotations per second
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopDerivativeOutput | ( | ) |
Differential closed loop derivative component.
The portion of the differential closed loop output that is the proportional to the deriviative the error. Alternatively, the d-Contribution of the closed loop output.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopError | ( | ) |
The difference between target differential reference and current measurement.
This is the value that is treated as the error in the differential PID loop.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopFeedForward | ( | ) |
Differential Feedforward passed by the user.
This is the general feedforward that the user provides for the differential closed loop.
Default Rates: CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopIntegratedOutput | ( | ) |
Differential closed loop integrated component.
The portion of the differential closed loop output that is proportional to the integrated error. Alternatively, the i-Contribution of the closed loop output.
Default Rates: CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopOutput | ( | ) |
Differential closed loop total output.
The total output of the differential closed loop output.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopProportionalOutput | ( | ) |
Differential closed loop proportional component.
The portion of the differential closed loop output that is the proportional to the error. Alternatively, the p-Contribution of the closed loop output.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopReference | ( | ) |
Value that the differential closed loop is targeting.
This is the value that the differential closed loop PID controller targets.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopReferenceSlope | ( | ) |
Derivative of the target that the differential closed loop is targeting.
This is the change in the closed loop reference. This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion MagicĀ®.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialClosedLoopSlot | ( | ) |
Differential Closed loop slot in use.
This is the slot that the closed loop differential PID is using.
Minimum Value: 0 Maximum Value: 2 Default Value: 0 Units:
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< signals::DifferentialControlModeValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialControlMode | ( | ) |
The active control mode of the differential controller.
Default Rates: CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialDifferencePosition | ( | ) |
Difference component of the differential position of device.
Minimum Value: -16384.0 Maximum Value: 16383.999755859375 Default Value: 0 Units: rotations
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::angular_velocity::turns_per_second_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialDifferenceVelocity | ( | ) |
Difference component of the differential velocity of device.
Minimum Value: -512.0 Maximum Value: 511.998046875 Default Value: 0 Units: rotations per second
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< double > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDifferentialOutput | ( | ) |
The calculated motor output for differential followers.
This is a torque request when using the TorqueCurrentFOC control output type, and a duty cycle in all other control types.
Default Rates: CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetDutyCycle | ( | ) |
The applied motor duty cycle.
Minimum Value: -2.0 Maximum Value: 1.9990234375 Default Value: 0 Units: fractional
Default Rates: CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_BootDuringEnable | ( | ) |
Device boot while detecting the enable signal.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_BridgeBrownout | ( | ) |
Bridge was disabled most likely due to supply voltage dropping too low.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_DeviceTemp | ( | ) |
Device temperature exceeded limit.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_ForwardHardLimit | ( | ) |
Forward limit switch has been asserted.
Output is set to neutral.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_ForwardSoftLimit | ( | ) |
Forward soft limit has been asserted.
Output is set to neutral.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_FusedSensorOutOfSync | ( | ) |
The remote sensor used for fusion has fallen out of sync to the local sensor.
A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_Hardware | ( | ) |
Hardware fault occurred.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_MissingDifferentialFX | ( | ) |
The remote Talon FX used for differential control is not present on CAN Bus.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_OverSupplyV | ( | ) |
Supply Voltage has exceeded the maximum voltage rating of device.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_ProcTemp | ( | ) |
Processor temperature exceeded limit.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_RemoteSensorDataInvalid | ( | ) |
The remote sensor's data is no longer trusted.
This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_RemoteSensorPosOverflow | ( | ) |
The remote sensor position has overflowed.
Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_RemoteSensorReset | ( | ) |
The remote sensor has reset.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_ReverseHardLimit | ( | ) |
Reverse limit switch has been asserted.
Output is set to neutral.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_ReverseSoftLimit | ( | ) |
Reverse soft limit has been asserted.
Output is set to neutral.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_StatorCurrLimit | ( | ) |
Stator current limit occured.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_SupplyCurrLimit | ( | ) |
Supply current limit occured.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_Undervoltage | ( | ) |
Device supply voltage dropped to near brownout levels.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_UnlicensedFeatureInUse | ( | ) |
An unlicensed feature is in use, device may not behave as expected.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_UnstableSupplyV | ( | ) |
Supply Voltage is unstable.
Ensure you are using a battery and current limited power supply.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFault_UsingFusedCANcoderWhileUnlicensed | ( | ) |
StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetFaultField | ( | ) |
Integer representing all faults.
This returns the fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead.
Minimum Value: 0 Maximum Value: 16777215 Default Value: 0 Units:
Default Rates: CAN: 4.0 Hz
StatusSignal< signals::ForwardLimitValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetForwardLimit | ( | ) |
Forward Limit Pin.
Default Rates: CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetIsProLicensed | ( | ) |
Whether the device is Phoenix Pro licensed.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< signals::MotionMagicIsRunningValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetMotionMagicIsRunning | ( | ) |
Check if Motion MagicĀ® is running.
This is equivalent to checking that the reported control mode is a Motion MagicĀ® based mode.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< signals::MotorTypeValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetMotorType | ( | ) |
The type of motor attached to the Talon FX.
This can be used to determine what motor is attached to the Talon FX. Return will be "Unknown" if firmware is too old or device is not present.
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::voltage::volt_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetMotorVoltage | ( | ) |
The applied (output) motor voltage.
Minimum Value: -40.96 Maximum Value: 40.95 Default Value: 0 Units: V
Default Rates: CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetPosition | ( | ) |
Position of the device in mechanism rotations.
This can be the position of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs.
Minimum Value: -16384.0 Maximum Value: 16383.999755859375 Default Value: 0 Units: rotations
Default Rates: CAN 2.0: 50.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::temperature::celsius_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetProcessorTemp | ( | ) |
Temperature of the processor.
This is the temperature that the processor measures itself to be at. Similar to Device Temperature.
Minimum Value: 0.0 Maximum Value: 255.0 Default Value: 0 Units: ā
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< signals::ReverseLimitValue > & ctre::phoenix6::hardware::core::CoreTalonFX::GetReverseLimit | ( | ) |
Reverse Limit Pin.
Default Rates: CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::angle::turn_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetRotorPosition | ( | ) |
Position of the motor rotor.
This position is only affected by the RotorOffset config.
Minimum Value: -16384.0 Maximum Value: 16383.999755859375 Default Value: 0 Units: rotations
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::angular_velocity::turns_per_second_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetRotorVelocity | ( | ) |
Velocity of the motor rotor.
This velocity is not affected by any feedback configs.
Minimum Value: -512.0 Maximum Value: 511.998046875 Default Value: 0 Units: rotations per second
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
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Get the simulation state for this device.
This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop.
StatusSignal< units::current::ampere_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStatorCurrent | ( | ) |
Current corresponding to the stator windings.
Similar to TorqueCurrent. Users will likely prefer TorqueCurrent over StatorCurrent.
Stator current where Positive current indicates motoring regardless of direction. Negative current indicates regenerative braking regardless of direction.
Minimum Value: -327.68 Maximum Value: 327.66 Default Value: 0 Units: A
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_BootDuringEnable | ( | ) |
Device boot while detecting the enable signal.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_BridgeBrownout | ( | ) |
Bridge was disabled most likely due to supply voltage dropping too low.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_DeviceTemp | ( | ) |
Device temperature exceeded limit.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_ForwardHardLimit | ( | ) |
Forward limit switch has been asserted.
Output is set to neutral.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_ForwardSoftLimit | ( | ) |
Forward soft limit has been asserted.
Output is set to neutral.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_FusedSensorOutOfSync | ( | ) |
The remote sensor used for fusion has fallen out of sync to the local sensor.
A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_Hardware | ( | ) |
Hardware fault occurred.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_MissingDifferentialFX | ( | ) |
The remote Talon FX used for differential control is not present on CAN Bus.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_OverSupplyV | ( | ) |
Supply Voltage has exceeded the maximum voltage rating of device.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_ProcTemp | ( | ) |
Processor temperature exceeded limit.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_RemoteSensorDataInvalid | ( | ) |
The remote sensor's data is no longer trusted.
This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_RemoteSensorPosOverflow | ( | ) |
The remote sensor position has overflowed.
Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_RemoteSensorReset | ( | ) |
The remote sensor has reset.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_ReverseHardLimit | ( | ) |
Reverse limit switch has been asserted.
Output is set to neutral.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_ReverseSoftLimit | ( | ) |
Reverse soft limit has been asserted.
Output is set to neutral.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_StatorCurrLimit | ( | ) |
Stator current limit occured.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_SupplyCurrLimit | ( | ) |
Supply current limit occured.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_Undervoltage | ( | ) |
Device supply voltage dropped to near brownout levels.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_UnlicensedFeatureInUse | ( | ) |
An unlicensed feature is in use, device may not behave as expected.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_UnstableSupplyV | ( | ) |
Supply Voltage is unstable.
Ensure you are using a battery and current limited power supply.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFault_UsingFusedCANcoderWhileUnlicensed | ( | ) |
StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetStickyFaultField | ( | ) |
Integer representing all sticky faults.
This returns the persistent "sticky" fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead.
Minimum Value: 0 Maximum Value: 16777215 Default Value: 0 Units:
Default Rates: CAN: 4.0 Hz
StatusSignal< units::current::ampere_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetSupplyCurrent | ( | ) |
Measured supply side current.
Minimum Value: -327.68 Maximum Value: 327.66 Default Value: 0 Units: A
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::voltage::volt_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetSupplyVoltage | ( | ) |
Measured supply voltage to the TalonFX.
Minimum Value: 4 Maximum Value: 29.575 Default Value: 4 Units: V
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::current::ampere_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetTorqueCurrent | ( | ) |
Current corresponding to the torque output by the motor.
Similar to StatorCurrent. Users will likely prefer this current to calculate the applied torque to the rotor.
Stator current where positive current means torque is applied in the forward direction as determined by the Inverted setting
Minimum Value: -327.68 Maximum Value: 327.67 Default Value: 0 Units: A
Default Rates: CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::angular_velocity::turns_per_second_t > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVelocity | ( | ) |
Velocity of the device in mechanism rotations per second.
This can be the velocity of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs.
Minimum Value: -512.0 Maximum Value: 511.998046875 Default Value: 0 Units: rotations per second
Default Rates: CAN 2.0: 50.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVersion | ( | ) |
Full Version.
The format is a four byte value.
Full Version of firmware in device. The format is a four byte value.
Minimum Value: 0 Maximum Value: 4294967295 Default Value: 0 Units:
Default Rates: CAN: 4.0 Hz
StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVersionBugfix | ( | ) |
App Bugfix Version number.
Minimum Value: 0 Maximum Value: 255 Default Value: 0 Units:
Default Rates: CAN: 4.0 Hz
StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVersionBuild | ( | ) |
App Build Version number.
Minimum Value: 0 Maximum Value: 255 Default Value: 0 Units:
Default Rates: CAN: 4.0 Hz
StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVersionMajor | ( | ) |
App Major Version number.
Minimum Value: 0 Maximum Value: 255 Default Value: 0 Units:
Default Rates: CAN: 4.0 Hz
StatusSignal< int > & ctre::phoenix6::hardware::core::CoreTalonFX::GetVersionMinor | ( | ) |
App Minor Version number.
Minimum Value: 0 Maximum Value: 255 Default Value: 0 Units:
Default Rates: CAN: 4.0 Hz
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Request coast neutral output of actuator.
The bridge is disabled and the rotor is allowed to coast.
CoastOut Parameters:
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::CoastOut & | request | ) |
Request coast neutral output of actuator.
The bridge is disabled and the rotor is allowed to coast.
CoastOut Parameters:
request | Control object to request of the device |
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Differential control with duty cycle average target and position difference target.
Diff_DutyCycleOut_Position Parameters: AverageRequest: Average DutyCycleOut request of the mechanism. DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_DutyCycleOut_Position & | request | ) |
Differential control with duty cycle average target and position difference target.
Diff_DutyCycleOut_Position Parameters: AverageRequest: Average DutyCycleOut request of the mechanism. DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
request | Control object to request of the device |
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Differential control with duty cycle average target and velocity difference target.
Diff_DutyCycleOut_Velocity Parameters: AverageRequest: Average DutyCycleOut request of the mechanism. DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_DutyCycleOut_Velocity & | request | ) |
Differential control with duty cycle average target and velocity difference target.
Diff_DutyCycleOut_Velocity Parameters: AverageRequest: Average DutyCycleOut request of the mechanism. DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
request | Control object to request of the device |
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Differential control with Motion MagicĀ® average target and position difference target using dutycycle control.
Diff_MotionMagicDutyCycle_Position Parameters: AverageRequest: Average MotionMagicDutyCycle request of the mechanism. DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_MotionMagicDutyCycle_Position & | request | ) |
Differential control with Motion MagicĀ® average target and position difference target using dutycycle control.
Diff_MotionMagicDutyCycle_Position Parameters: AverageRequest: Average MotionMagicDutyCycle request of the mechanism. DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
request | Control object to request of the device |
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Differential control with Motion MagicĀ® average target and velocity difference target using dutycycle control.
Diff_MotionMagicDutyCycle_Velocity Parameters: AverageRequest: Average MotionMagicDutyCycle request of the mechanism. DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_MotionMagicDutyCycle_Velocity & | request | ) |
Differential control with Motion MagicĀ® average target and velocity difference target using dutycycle control.
Diff_MotionMagicDutyCycle_Velocity Parameters: AverageRequest: Average MotionMagicDutyCycle request of the mechanism. DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
request | Control object to request of the device |
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Differential control with Motion MagicĀ® average target and position difference target using torque current control.
Diff_MotionMagicTorqueCurrentFOC_Position Parameters: AverageRequest: Average MotionMagicTorqueCurrentFOC request of the mechanism. DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_MotionMagicTorqueCurrentFOC_Position & | request | ) |
Differential control with Motion MagicĀ® average target and position difference target using torque current control.
Diff_MotionMagicTorqueCurrentFOC_Position Parameters: AverageRequest: Average MotionMagicTorqueCurrentFOC request of the mechanism. DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
request | Control object to request of the device |
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Differential control with Motion MagicĀ® average target and velocity difference target using torque current control.
Diff_MotionMagicTorqueCurrentFOC_Velocity Parameters: AverageRequest: Average MotionMagicTorqueCurrentFOC request of the mechanism. DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_MotionMagicTorqueCurrentFOC_Velocity & | request | ) |
Differential control with Motion MagicĀ® average target and velocity difference target using torque current control.
Diff_MotionMagicTorqueCurrentFOC_Velocity Parameters: AverageRequest: Average MotionMagicTorqueCurrentFOC request of the mechanism. DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
request | Control object to request of the device |
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Differential control with Motion MagicĀ® average target and position difference target using voltage control.
Diff_MotionMagicVoltage_Position Parameters: AverageRequest: Average MotionMagicVoltage request of the mechanism. DifferentialRequest: Differential PositionVoltage request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_MotionMagicVoltage_Position & | request | ) |
Differential control with Motion MagicĀ® average target and position difference target using voltage control.
Diff_MotionMagicVoltage_Position Parameters: AverageRequest: Average MotionMagicVoltage request of the mechanism. DifferentialRequest: Differential PositionVoltage request of the mechanism.
request | Control object to request of the device |
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Differential control with Motion MagicĀ® average target and velocity difference target using voltage control.
Diff_MotionMagicVoltage_Velocity Parameters: AverageRequest: Average MotionMagicVoltage request of the mechanism. DifferentialRequest: Differential VelocityVoltage request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_MotionMagicVoltage_Velocity & | request | ) |
Differential control with Motion MagicĀ® average target and velocity difference target using voltage control.
Diff_MotionMagicVoltage_Velocity Parameters: AverageRequest: Average MotionMagicVoltage request of the mechanism. DifferentialRequest: Differential VelocityVoltage request of the mechanism.
request | Control object to request of the device |
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Differential control with position average target and position difference target using dutycycle control.
Diff_PositionDutyCycle_Position Parameters: AverageRequest: Average PositionDutyCycle request of the mechanism. DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_PositionDutyCycle_Position & | request | ) |
Differential control with position average target and position difference target using dutycycle control.
Diff_PositionDutyCycle_Position Parameters: AverageRequest: Average PositionDutyCycle request of the mechanism. DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
request | Control object to request of the device |
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Differential control with position average target and velocity difference target using dutycycle control.
Diff_PositionDutyCycle_Velocity Parameters: AverageRequest: Average PositionDutyCycle request of the mechanism. DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_PositionDutyCycle_Velocity & | request | ) |
Differential control with position average target and velocity difference target using dutycycle control.
Diff_PositionDutyCycle_Velocity Parameters: AverageRequest: Average PositionDutyCycle request of the mechanism. DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
request | Control object to request of the device |
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Differential control with position average target and position difference target using torque current control.
Diff_PositionTorqueCurrentFOC_Position Parameters: AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism. DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_PositionTorqueCurrentFOC_Position & | request | ) |
Differential control with position average target and position difference target using torque current control.
Diff_PositionTorqueCurrentFOC_Position Parameters: AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism. DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
request | Control object to request of the device |
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Differential control with position average target and velocity difference target using torque current control.
Diff_PositionTorqueCurrentFOC_Velocity Parameters: AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism. DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_PositionTorqueCurrentFOC_Velocity & | request | ) |
Differential control with position average target and velocity difference target using torque current control.
Diff_PositionTorqueCurrentFOC_Velocity Parameters: AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism. DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
request | Control object to request of the device |
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Differential control with position average target and position difference target using voltage control.
Diff_PositionVoltage_Position Parameters: AverageRequest: Average PositionVoltage request of the mechanism. DifferentialRequest: Differential PositionVoltage request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_PositionVoltage_Position & | request | ) |
Differential control with position average target and position difference target using voltage control.
Diff_PositionVoltage_Position Parameters: AverageRequest: Average PositionVoltage request of the mechanism. DifferentialRequest: Differential PositionVoltage request of the mechanism.
request | Control object to request of the device |
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Differential control with position average target and velocity difference target using voltage control.
Diff_PositionVoltage_Velocity Parameters: AverageRequest: Average PositionVoltage request of the mechanism. DifferentialRequest: Differential VelocityVoltage request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_PositionVoltage_Velocity & | request | ) |
Differential control with position average target and velocity difference target using voltage control.
Diff_PositionVoltage_Velocity Parameters: AverageRequest: Average PositionVoltage request of the mechanism. DifferentialRequest: Differential VelocityVoltage request of the mechanism.
request | Control object to request of the device |
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Differential control with torque current average target and position difference target.
Diff_TorqueCurrentFOC_Position Parameters: AverageRequest: Average TorqueCurrentFOC request of the mechanism. DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_TorqueCurrentFOC_Position & | request | ) |
Differential control with torque current average target and position difference target.
Diff_TorqueCurrentFOC_Position Parameters: AverageRequest: Average TorqueCurrentFOC request of the mechanism. DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
request | Control object to request of the device |
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Differential control with torque current average target and velocity difference target.
Diff_TorqueCurrentFOC_Velocity Parameters: AverageRequest: Average TorqueCurrentFOC request of the mechanism. DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_TorqueCurrentFOC_Velocity & | request | ) |
Differential control with torque current average target and velocity difference target.
Diff_TorqueCurrentFOC_Velocity Parameters: AverageRequest: Average TorqueCurrentFOC request of the mechanism. DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
request | Control object to request of the device |
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Differential control with velocity average target and position difference target using dutycycle control.
Diff_VelocityDutyCycle_Position Parameters: AverageRequest: Average VelocityDutyCYcle request of the mechanism. DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_VelocityDutyCycle_Position & | request | ) |
Differential control with velocity average target and position difference target using dutycycle control.
Diff_VelocityDutyCycle_Position Parameters: AverageRequest: Average VelocityDutyCYcle request of the mechanism. DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
request | Control object to request of the device |
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Differential control with velocity average target and velocity difference target using dutycycle control.
Diff_VelocityDutyCycle_Velocity Parameters: AverageRequest: Average VelocityDutyCycle request of the mechanism. DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_VelocityDutyCycle_Velocity & | request | ) |
Differential control with velocity average target and velocity difference target using dutycycle control.
Diff_VelocityDutyCycle_Velocity Parameters: AverageRequest: Average VelocityDutyCycle request of the mechanism. DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
request | Control object to request of the device |
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Differential control with velocity average target and position difference target using torque current control.
Diff_VelocityTorqueCurrentFOC_Position Parameters: AverageRequest: Average VelocityTorqueCurrentFOC request of the mechanism. DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_VelocityTorqueCurrentFOC_Position & | request | ) |
Differential control with velocity average target and position difference target using torque current control.
Diff_VelocityTorqueCurrentFOC_Position Parameters: AverageRequest: Average VelocityTorqueCurrentFOC request of the mechanism. DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
request | Control object to request of the device |
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Differential control with velocity average target and velocity difference target using torque current control.
Diff_VelocityTorqueCurrentFOC_Velocity Parameters: AverageRequest: Average VelocityTorqueCurrentFOC request of the mechanism. DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_VelocityTorqueCurrentFOC_Velocity & | request | ) |
Differential control with velocity average target and velocity difference target using torque current control.
Diff_VelocityTorqueCurrentFOC_Velocity Parameters: AverageRequest: Average VelocityTorqueCurrentFOC request of the mechanism. DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
request | Control object to request of the device |
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Differential control with velocity average target and position difference target using voltage control.
Diff_VelocityVoltage_Position Parameters: AverageRequest: Average VelocityVoltage request of the mechanism. DifferentialRequest: Differential PositionVoltage request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_VelocityVoltage_Position & | request | ) |
Differential control with velocity average target and position difference target using voltage control.
Diff_VelocityVoltage_Position Parameters: AverageRequest: Average VelocityVoltage request of the mechanism. DifferentialRequest: Differential PositionVoltage request of the mechanism.
request | Control object to request of the device |
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Differential control with velocity average target and velocity difference target using voltage control.
Diff_VelocityVoltage_Velocity Parameters: AverageRequest: Average VelocityVoltage request of the mechanism. DifferentialRequest: Differential VelocityVoltage request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_VelocityVoltage_Velocity & | request | ) |
Differential control with velocity average target and velocity difference target using voltage control.
Diff_VelocityVoltage_Velocity Parameters: AverageRequest: Average VelocityVoltage request of the mechanism. DifferentialRequest: Differential VelocityVoltage request of the mechanism.
request | Control object to request of the device |
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Differential control with voltage average target and position difference target.
Diff_VoltageOut_Position Parameters: AverageRequest: Average VoltageOut request of the mechanism. DifferentialRequest: Differential PositionVoltage request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_VoltageOut_Position & | request | ) |
Differential control with voltage average target and position difference target.
Diff_VoltageOut_Position Parameters: AverageRequest: Average VoltageOut request of the mechanism. DifferentialRequest: Differential PositionVoltage request of the mechanism.
request | Control object to request of the device |
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Differential control with voltage average target and velocity difference target.
Diff_VoltageOut_Velocity Parameters: AverageRequest: Average VoltageOut request of the mechanism. DifferentialRequest: Differential VelocityVoltage request of the mechanism.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::compound::Diff_VoltageOut_Velocity & | request | ) |
Differential control with voltage average target and velocity difference target.
Diff_VoltageOut_Velocity Parameters: AverageRequest: Average VoltageOut request of the mechanism. DifferentialRequest: Differential VelocityVoltage request of the mechanism.
request | Control object to request of the device |
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Control motor with generic control request object.
User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the corresponding StatusCode
request | Control object to request of the device |
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Control motor with generic control request object.
User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the NotSupported StatusCode
request | Control object to request of the device |
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Request a specified motor duty cycle with a differential position closed-loop.
This control mode will output a proportion of the supplied voltage which is supplied by the user. It will also set the motor's differential position setpoint to the specified position.
DifferentialDutyCycle Parameters: TargetOutput: Proportion of supply voltage to apply in fractional units between -1 and +1 DifferentialPosition: Differential position to drive towards in rotations EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::DifferentialDutyCycle & | request | ) |
Request a specified motor duty cycle with a differential position closed-loop.
This control mode will output a proportion of the supplied voltage which is supplied by the user. It will also set the motor's differential position setpoint to the specified position.
DifferentialDutyCycle Parameters: TargetOutput: Proportion of supply voltage to apply in fractional units between -1 and +1 DifferentialPosition: Differential position to drive towards in rotations EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
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Follow the differential motor output of another Talon.
If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction either matches master's configured direction or opposes it based on OpposeMasterDirection.
DifferentialFollower Parameters: MasterID: Device ID of the differential master to follow. OpposeMasterDirection: Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction. Set to true for motor invert to oppose the master's configured Invert - this is typical where the the master and follower mechanically spin in opposite directions.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::DifferentialFollower & | request | ) |
Follow the differential motor output of another Talon.
If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction either matches master's configured direction or opposes it based on OpposeMasterDirection.
DifferentialFollower Parameters: MasterID: Device ID of the differential master to follow. OpposeMasterDirection: Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction. Set to true for motor invert to oppose the master's configured Invert - this is typical where the the master and follower mechanically spin in opposite directions.
request | Control object to request of the device |
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Requests Motion MagicĀ® to target a final position using a motion profile, and PID to a differential position setpoint.
Motion MagicĀ® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion MagicĀ® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
DifferentialMotionMagicDutyCycle Parameters: TargetPosition: Average position to drive toward in rotations. DifferentialPosition: Differential position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::DifferentialMotionMagicDutyCycle & | request | ) |
Requests Motion MagicĀ® to target a final position using a motion profile, and PID to a differential position setpoint.
Motion MagicĀ® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion MagicĀ® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
DifferentialMotionMagicDutyCycle Parameters: TargetPosition: Average position to drive toward in rotations. DifferentialPosition: Differential position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
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Requests Motion MagicĀ® to target a final position using a motion profile, and PID to a differential position setpoint.
Motion MagicĀ® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion MagicĀ® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.
DifferentialMotionMagicVoltage Parameters: TargetPosition: Average position to drive toward in rotations. DifferentialPosition: Differential position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::DifferentialMotionMagicVoltage & | request | ) |
Requests Motion MagicĀ® to target a final position using a motion profile, and PID to a differential position setpoint.
Motion MagicĀ® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion MagicĀ® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.
DifferentialMotionMagicVoltage Parameters: TargetPosition: Average position to drive toward in rotations. DifferentialPosition: Differential position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
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Request PID to target position with a differential position setpoint.
This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.
DifferentialPositionDutyCycle Parameters: TargetPosition: Average position to drive toward in rotations. DifferentialPosition: Differential position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::DifferentialPositionDutyCycle & | request | ) |
Request PID to target position with a differential position setpoint.
This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.
DifferentialPositionDutyCycle Parameters: TargetPosition: Average position to drive toward in rotations. DifferentialPosition: Differential position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
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Request PID to target position with a differential position setpoint.
This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.
DifferentialPositionVoltage Parameters: TargetPosition: Average position to drive toward in rotations. DifferentialPosition: Differential position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::DifferentialPositionVoltage & | request | ) |
Request PID to target position with a differential position setpoint.
This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.
DifferentialPositionVoltage Parameters: TargetPosition: Average position to drive toward in rotations. DifferentialPosition: Differential position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
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Follow the differential motor output of another Talon while ignoring the master's invert setting.
If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction is strictly determined by the configured invert and not the master. If you want motor direction to match or oppose the master, use FollowerRequest instead.
DifferentialStrictFollower Parameters: MasterID: Device ID of the differential master to follow.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::DifferentialStrictFollower & | request | ) |
Follow the differential motor output of another Talon while ignoring the master's invert setting.
If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction is strictly determined by the configured invert and not the master. If you want motor direction to match or oppose the master, use FollowerRequest instead.
DifferentialStrictFollower Parameters: MasterID: Device ID of the differential master to follow.
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Request PID to target velocity with a differential position setpoint.
This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.
DifferentialVelocityDutyCycle Parameters: TargetVelocity: Average velocity to drive toward in rotations per second. DifferentialPosition: Differential position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::DifferentialVelocityDutyCycle & | request | ) |
Request PID to target velocity with a differential position setpoint.
This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.
DifferentialVelocityDutyCycle Parameters: TargetVelocity: Average velocity to drive toward in rotations per second. DifferentialPosition: Differential position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
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Request PID to target velocity with a differential position setpoint.
This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.
DifferentialVelocityVoltage Parameters: TargetVelocity: Average velocity to drive toward in rotations per second. DifferentialPosition: Differential position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::DifferentialVelocityVoltage & | request | ) |
Request PID to target velocity with a differential position setpoint.
This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.
DifferentialVelocityVoltage Parameters: TargetVelocity: Average velocity to drive toward in rotations per second. DifferentialPosition: Differential position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. TargetSlot: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
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Request a specified voltage with a differential position closed-loop.
This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage. It will also set the motor's differential position setpoint to the specified position.
DifferentialVoltage Parameters: TargetOutput: Voltage to attempt to drive at DifferentialPosition: Differential position to drive towards in rotations EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::DifferentialVoltage & | request | ) |
Request a specified voltage with a differential position closed-loop.
This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage. It will also set the motor's differential position setpoint to the specified position.
DifferentialVoltage Parameters: TargetOutput: Voltage to attempt to drive at DifferentialPosition: Differential position to drive towards in rotations EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
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Request a specified motor duty cycle.
This control mode will output a proportion of the supplied voltage which is supplied by the user.
DutyCycleOut Parameters: Output: Proportion of supply voltage to apply in fractional units between -1 and +1 EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::DutyCycleOut & | request | ) |
Request a specified motor duty cycle.
This control mode will output a proportion of the supplied voltage which is supplied by the user.
DutyCycleOut Parameters: Output: Proportion of supply voltage to apply in fractional units between -1 and +1 EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
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Requests Motion MagicĀ® to target a final position using a motion profile.
This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a duty cycle feedforward. This control requires use of a CANivore.
Motion MagicĀ® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and Jerk value. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
DynamicMotionMagicDutyCycle Parameters: Position: Position to drive toward in rotations. Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in fractional units between -1 and +1. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::DynamicMotionMagicDutyCycle & | request | ) |
Requests Motion MagicĀ® to target a final position using a motion profile.
This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a duty cycle feedforward. This control requires use of a CANivore.
Motion MagicĀ® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and Jerk value. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
DynamicMotionMagicDutyCycle Parameters: Position: Position to drive toward in rotations. Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in fractional units between -1 and +1. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
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Requests Motion MagicĀ® to target a final position using a motion profile.
This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a torque current feedforward. This control requires use of a CANivore.
Motion MagicĀ® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and Jerk value. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.
DynamicMotionMagicTorqueCurrentFOC Parameters: Position: Position to drive toward in rotations. Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation. Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation. FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque). LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::DynamicMotionMagicTorqueCurrentFOC & | request | ) |
Requests Motion MagicĀ® to target a final position using a motion profile.
This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a torque current feedforward. This control requires use of a CANivore.
Motion MagicĀ® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and Jerk value. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.
DynamicMotionMagicTorqueCurrentFOC Parameters: Position: Position to drive toward in rotations. Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation. Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation. FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque). LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
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Requests Motion MagicĀ® to target a final position using a motion profile.
This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a voltage feedforward. This control requires use of a CANivore.
Motion MagicĀ® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and Jerk value. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.
DynamicMotionMagicVoltage Parameters: Position: Position to drive toward in rotations. Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation. Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in volts Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::DynamicMotionMagicVoltage & | request | ) |
Requests Motion MagicĀ® to target a final position using a motion profile.
This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a voltage feedforward. This control requires use of a CANivore.
Motion MagicĀ® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and Jerk value. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.
DynamicMotionMagicVoltage Parameters: Position: Position to drive toward in rotations. Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation. Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in volts Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
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Follow the motor output of another Talon.
If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction either matches master's configured direction or opposes it based on OpposeMasterDirection.
Follower Parameters: MasterID: Device ID of the master to follow. OpposeMasterDirection: Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction. Set to true for motor invert to oppose the master's configured Invert - this is typical where the the master and follower mechanically spin in opposite directions.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::Follower & | request | ) |
Follow the motor output of another Talon.
If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction either matches master's configured direction or opposes it based on OpposeMasterDirection.
Follower Parameters: MasterID: Device ID of the master to follow. OpposeMasterDirection: Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction. Set to true for motor invert to oppose the master's configured Invert - this is typical where the the master and follower mechanically spin in opposite directions.
request | Control object to request of the device |
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Requests Motion MagicĀ® to target a final position using a motion profile.
Users can optionally provide a duty cycle feedforward.
Motion MagicĀ® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion MagicĀ® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
MotionMagicDutyCycle Parameters: Position: Position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in fractional units between -1 and +1. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::MotionMagicDutyCycle & | request | ) |
Requests Motion MagicĀ® to target a final position using a motion profile.
Users can optionally provide a duty cycle feedforward.
Motion MagicĀ® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion MagicĀ® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
MotionMagicDutyCycle Parameters: Position: Position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in fractional units between -1 and +1. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
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Requests Motion MagicĀ® to target a final position using an exponential motion profile.
Users can optionally provide a duty cycle feedforward.
Motion MagicĀ® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion MagicĀ® configuration values. Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
MotionMagicExpoDutyCycle Parameters: Position: Position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in fractional units between -1 and +1. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::MotionMagicExpoDutyCycle & | request | ) |
Requests Motion MagicĀ® to target a final position using an exponential motion profile.
Users can optionally provide a duty cycle feedforward.
Motion MagicĀ® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion MagicĀ® configuration values. Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
MotionMagicExpoDutyCycle Parameters: Position: Position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in fractional units between -1 and +1. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
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Requests Motion MagicĀ® to target a final position using an exponential motion profile.
Users can optionally provide a torque current feedforward.
Motion MagicĀ® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion MagicĀ® configuration values. Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.
MotionMagicExpoTorqueCurrentFOC Parameters: Position: Position to drive toward in rotations. FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque). LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::MotionMagicExpoTorqueCurrentFOC & | request | ) |
Requests Motion MagicĀ® to target a final position using an exponential motion profile.
Users can optionally provide a torque current feedforward.
Motion MagicĀ® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion MagicĀ® configuration values. Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.
MotionMagicExpoTorqueCurrentFOC Parameters: Position: Position to drive toward in rotations. FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque). LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
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inline |
Requests Motion MagicĀ® to target a final position using an exponential motion profile.
Users can optionally provide a voltage feedforward.
Motion MagicĀ® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion MagicĀ® configuration values. Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.
MotionMagicExpoVoltage Parameters: Position: Position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in volts Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::MotionMagicExpoVoltage & | request | ) |
Requests Motion MagicĀ® to target a final position using an exponential motion profile.
Users can optionally provide a voltage feedforward.
Motion MagicĀ® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion MagicĀ® configuration values. Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.
MotionMagicExpoVoltage Parameters: Position: Position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in volts Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
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Requests Motion MagicĀ® to target a final position using a motion profile.
Users can optionally provide a torque current feedforward.
Motion MagicĀ® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion MagicĀ® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.
MotionMagicTorqueCurrentFOC Parameters: Position: Position to drive toward in rotations. FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque). LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::MotionMagicTorqueCurrentFOC & | request | ) |
Requests Motion MagicĀ® to target a final position using a motion profile.
Users can optionally provide a torque current feedforward.
Motion MagicĀ® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion MagicĀ® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.
MotionMagicTorqueCurrentFOC Parameters: Position: Position to drive toward in rotations. FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque). LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
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Requests Motion MagicĀ® to target a final velocity using a motion profile.
This allows smooth transitions between velocity set points. Users can optionally provide a duty cycle feedforward.
Motion MagicĀ® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and Jerk value. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. If the specified acceleration is zero, the Acceleration under Motion MagicĀ® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion MagicĀ® persistent configuration values. If Jerk is set to zero, Motion MagicĀ® will produce a trapezoidal acceleration profile. Target velocity can also be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
MotionMagicVelocityDutyCycle Parameters: Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly. Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in fractional units between -1 and +1. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::MotionMagicVelocityDutyCycle & | request | ) |
Requests Motion MagicĀ® to target a final velocity using a motion profile.
This allows smooth transitions between velocity set points. Users can optionally provide a duty cycle feedforward.
Motion MagicĀ® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and Jerk value. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. If the specified acceleration is zero, the Acceleration under Motion MagicĀ® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion MagicĀ® persistent configuration values. If Jerk is set to zero, Motion MagicĀ® will produce a trapezoidal acceleration profile. Target velocity can also be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
MotionMagicVelocityDutyCycle Parameters: Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly. Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in fractional units between -1 and +1. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
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Requests Motion MagicĀ® to target a final velocity using a motion profile.
This allows smooth transitions between velocity set points. Users can optionally provide a torque feedforward.
Motion MagicĀ® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and Jerk value. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. If the specified acceleration is zero, the Acceleration under Motion MagicĀ® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion MagicĀ® persistent configuration values. If Jerk is set to zero, Motion MagicĀ® will produce a trapezoidal acceleration profile. Target velocity can also be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.
MotionMagicVelocityTorqueCurrentFOC Parameters: Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly. Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque). LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::MotionMagicVelocityTorqueCurrentFOC & | request | ) |
Requests Motion MagicĀ® to target a final velocity using a motion profile.
This allows smooth transitions between velocity set points. Users can optionally provide a torque feedforward.
Motion MagicĀ® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and Jerk value. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. If the specified acceleration is zero, the Acceleration under Motion MagicĀ® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion MagicĀ® persistent configuration values. If Jerk is set to zero, Motion MagicĀ® will produce a trapezoidal acceleration profile. Target velocity can also be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.
MotionMagicVelocityTorqueCurrentFOC Parameters: Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly. Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque). LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
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Requests Motion MagicĀ® to target a final velocity using a motion profile.
This allows smooth transitions between velocity set points. Users can optionally provide a voltage feedforward.
Motion MagicĀ® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and Jerk value. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. If the specified acceleration is zero, the Acceleration under Motion MagicĀ® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion MagicĀ® persistent configuration values. If Jerk is set to zero, Motion MagicĀ® will produce a trapezoidal acceleration profile. Target velocity can also be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.
MotionMagicVelocityVoltage Parameters: Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly. Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in volts Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::MotionMagicVelocityVoltage & | request | ) |
Requests Motion MagicĀ® to target a final velocity using a motion profile.
This allows smooth transitions between velocity set points. Users can optionally provide a voltage feedforward.
Motion MagicĀ® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and Jerk value. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. If the specified acceleration is zero, the Acceleration under Motion MagicĀ® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion MagicĀ® persistent configuration values. If Jerk is set to zero, Motion MagicĀ® will produce a trapezoidal acceleration profile. Target velocity can also be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.
MotionMagicVelocityVoltage Parameters: Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly. Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in volts Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
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Requests Motion MagicĀ® to target a final position using a motion profile.
Users can optionally provide a voltage feedforward.
Motion MagicĀ® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion MagicĀ® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.
MotionMagicVoltage Parameters: Position: Position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in volts Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::MotionMagicVoltage & | request | ) |
Requests Motion MagicĀ® to target a final position using a motion profile.
Users can optionally provide a voltage feedforward.
Motion MagicĀ® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion MagicĀ® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion MagicĀ® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.
MotionMagicVoltage Parameters: Position: Position to drive toward in rotations. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in volts Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
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Plays a single tone at the user specified frequency.
MusicTone Parameters: AudioFrequency: Sound frequency to play. A value of zero will silence the device. The effective frequency range is 10-20000Hz. Any nonzero frequency less than 10 Hz will be capped to 10Hz. Any frequency above 20Khz will be capped to 20KHz.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::MusicTone & | request | ) |
Plays a single tone at the user specified frequency.
MusicTone Parameters: AudioFrequency: Sound frequency to play. A value of zero will silence the device. The effective frequency range is 10-20000Hz. Any nonzero frequency less than 10 Hz will be capped to 10Hz. Any frequency above 20Khz will be capped to 20KHz.
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Request neutral output of actuator.
The applied brake type is determined by the NeutralMode configuration.
NeutralOut Parameters:
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::NeutralOut & | request | ) |
Request neutral output of actuator.
The applied brake type is determined by the NeutralMode configuration.
NeutralOut Parameters:
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Request PID to target position with duty cycle feedforward.
This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional duty cycle as an arbitrary feedforward value.
PositionDutyCycle Parameters: Position: Position to drive toward in rotations. Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in fractional units between -1 and +1. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::PositionDutyCycle & | request | ) |
Request PID to target position with duty cycle feedforward.
This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional duty cycle as an arbitrary feedforward value.
PositionDutyCycle Parameters: Position: Position to drive toward in rotations. Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in fractional units between -1 and +1. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
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Request PID to target position with torque current feedforward.
This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.
PositionTorqueCurrentFOC Parameters: Position: Position to drive toward in rotations. Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program. FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque). LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::PositionTorqueCurrentFOC & | request | ) |
Request PID to target position with torque current feedforward.
This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.
PositionTorqueCurrentFOC Parameters: Position: Position to drive toward in rotations. Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program. FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque). LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
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Request PID to target position with voltage feedforward.
This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.
PositionVoltage Parameters: Position: Position to drive toward in rotations. Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in volts Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::PositionVoltage & | request | ) |
Request PID to target position with voltage feedforward.
This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.
PositionVoltage Parameters: Position: Position to drive toward in rotations. Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in volts Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
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Applies full neutral-brake by shorting motor leads together.
StaticBrake Parameters:
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::StaticBrake & | request | ) |
Applies full neutral-brake by shorting motor leads together.
StaticBrake Parameters:
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Follow the motor output of another Talon while ignoring the master's invert setting.
If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction is strictly determined by the configured invert and not the master. If you want motor direction to match or oppose the master, use FollowerRequest instead.
StrictFollower Parameters: MasterID: Device ID of the master to follow.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::StrictFollower & | request | ) |
Follow the motor output of another Talon while ignoring the master's invert setting.
If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction is strictly determined by the configured invert and not the master. If you want motor direction to match or oppose the master, use FollowerRequest instead.
StrictFollower Parameters: MasterID: Device ID of the master to follow.
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Request a specified motor current (field oriented control).
This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.
TorqueCurrentFOC Parameters: Output: Amount of motor current in Amperes MaxAbsDutyCycle: The maximum absolute motor output that can be applied, which effectively limits the velocity. For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one. Deadband: Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps. OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque). LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::TorqueCurrentFOC & | request | ) |
Request a specified motor current (field oriented control).
This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.
TorqueCurrentFOC Parameters: Output: Amount of motor current in Amperes MaxAbsDutyCycle: The maximum absolute motor output that can be applied, which effectively limits the velocity. For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one. Deadband: Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps. OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque). LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
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Request PID to target velocity with duty cycle feedforward.
This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.
VelocityDutyCycle Parameters: Velocity: Velocity to drive toward in rotations per second. Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in fractional units between -1 and +1. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::VelocityDutyCycle & | request | ) |
Request PID to target velocity with duty cycle feedforward.
This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.
VelocityDutyCycle Parameters: Velocity: Velocity to drive toward in rotations per second. Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in fractional units between -1 and +1. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
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inline |
Request PID to target velocity with torque current feedforward.
This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.
VelocityTorqueCurrentFOC Parameters: Velocity: Velocity to drive toward in rotations per second. Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program. FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque). LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::VelocityTorqueCurrentFOC & | request | ) |
Request PID to target velocity with torque current feedforward.
This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.
VelocityTorqueCurrentFOC Parameters: Velocity: Velocity to drive toward in rotations per second. Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program. FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes. Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque). LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
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inline |
Request PID to target velocity with voltage feedforward.
This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.
VelocityVoltage Parameters: Velocity: Velocity to drive toward in rotations per second. Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in volts Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::VelocityVoltage & | request | ) |
Request PID to target velocity with voltage feedforward.
This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.
VelocityVoltage Parameters: Velocity: Velocity to drive toward in rotations per second. Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program. EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. FeedForward: Feedforward to apply in volts Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
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inline |
Request a specified voltage.
This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage.
VoltageOut Parameters: Output: Voltage to attempt to drive at EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CoreTalonFX::SetControl | ( | controls::VoltageOut & | request | ) |
Request a specified voltage.
This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage.
VoltageOut Parameters: Output: Voltage to attempt to drive at EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
request | Control object to request of the device |
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inline |
Sets the mechanism position of the device in mechanism rotations.
This will wait up to 0.050 seconds (50ms) by default.
newValue | Value to set to. Units are in rotations. |
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Sets the mechanism position of the device in mechanism rotations.
newValue | Value to set to. Units are in rotations. |
timeoutSeconds | Maximum time to wait up to in seconds. |