75#include <units/angle.h>
76#include <units/angular_acceleration.h>
77#include <units/angular_velocity.h>
78#include <units/current.h>
79#include <units/dimensionless.h>
80#include <units/temperature.h>
81#include <units/voltage.h>
316 Voltage = std::move(newVoltage);
463 Audio = std::move(newAudio);
551 Slot0 = std::move(newSlot0);
569 Slot1 = std::move(newSlot1);
587 Slot2 = std::move(newSlot2);
596 std::stringstream ss;
597 ss <<
"TalonFXConfiguration" << std::endl;
624 std::stringstream ss;
1927 std::stringstream ss;
1972 std::stringstream ss;
2009 std::stringstream ss;
2046 std::stringstream ss;
2083 std::stringstream ss;
2122 std::stringstream ss;
2161 std::stringstream ss;
2200 std::stringstream ss;
2237 std::stringstream ss;
2276 std::stringstream ss;
2321 std::stringstream ss;
2360 std::stringstream ss;
2399 std::stringstream ss;
2438 std::stringstream ss;
2477 std::stringstream ss;
2516 std::stringstream ss;
2555 std::stringstream ss;
2594 std::stringstream ss;
2633 std::stringstream ss;
2678 std::stringstream ss;
2723 std::stringstream ss;
2760 std::stringstream ss;
2797 std::stringstream ss;
3695 std::unique_ptr<sim::TalonFXSimState> _simState{};
3708 if (_simState ==
nullptr)
3709 _simState = std::make_unique<sim::TalonFXSimState>(*
this);
9811 if (DutyCycleOutValue !=
nullptr)
9814 if (TorqueCurrentFOCValue !=
nullptr)
9817 if (VoltageOutValue !=
nullptr)
9820 if (PositionDutyCycleValue !=
nullptr)
9823 if (PositionVoltageValue !=
nullptr)
9826 if (PositionTorqueCurrentFOCValue !=
nullptr)
9827 return SetControl(*PositionTorqueCurrentFOCValue);
9829 if (VelocityDutyCycleValue !=
nullptr)
9832 if (VelocityVoltageValue !=
nullptr)
9835 if (VelocityTorqueCurrentFOCValue !=
nullptr)
9836 return SetControl(*VelocityTorqueCurrentFOCValue);
9838 if (MotionMagicDutyCycleValue !=
nullptr)
9839 return SetControl(*MotionMagicDutyCycleValue);
9841 if (MotionMagicVoltageValue !=
nullptr)
9844 if (MotionMagicTorqueCurrentFOCValue !=
nullptr)
9845 return SetControl(*MotionMagicTorqueCurrentFOCValue);
9847 if (DifferentialDutyCycleValue !=
nullptr)
9848 return SetControl(*DifferentialDutyCycleValue);
9850 if (DifferentialVoltageValue !=
nullptr)
9851 return SetControl(*DifferentialVoltageValue);
9853 if (DifferentialPositionDutyCycleValue !=
nullptr)
9854 return SetControl(*DifferentialPositionDutyCycleValue);
9856 if (DifferentialPositionVoltageValue !=
nullptr)
9857 return SetControl(*DifferentialPositionVoltageValue);
9859 if (DifferentialVelocityDutyCycleValue !=
nullptr)
9860 return SetControl(*DifferentialVelocityDutyCycleValue);
9862 if (DifferentialVelocityVoltageValue !=
nullptr)
9863 return SetControl(*DifferentialVelocityVoltageValue);
9865 if (DifferentialMotionMagicDutyCycleValue !=
nullptr)
9866 return SetControl(*DifferentialMotionMagicDutyCycleValue);
9868 if (DifferentialMotionMagicVoltageValue !=
nullptr)
9869 return SetControl(*DifferentialMotionMagicVoltageValue);
9871 if (FollowerValue !=
nullptr)
9874 if (StrictFollowerValue !=
nullptr)
9877 if (DifferentialFollowerValue !=
nullptr)
9878 return SetControl(*DifferentialFollowerValue);
9880 if (DifferentialStrictFollowerValue !=
nullptr)
9881 return SetControl(*DifferentialStrictFollowerValue);
9883 if (NeutralOutValue !=
nullptr)
9886 if (CoastOutValue !=
nullptr)
9889 if (StaticBrakeValue !=
nullptr)
9892 if (MusicToneValue !=
nullptr)
9895 if (MotionMagicVelocityDutyCycleValue !=
nullptr)
9896 return SetControl(*MotionMagicVelocityDutyCycleValue);
9898 if (MotionMagicVelocityTorqueCurrentFOCValue !=
nullptr)
9899 return SetControl(*MotionMagicVelocityTorqueCurrentFOCValue);
9901 if (MotionMagicVelocityVoltageValue !=
nullptr)
9902 return SetControl(*MotionMagicVelocityVoltageValue);
9904 if (MotionMagicExpoDutyCycleValue !=
nullptr)
9905 return SetControl(*MotionMagicExpoDutyCycleValue);
9907 if (MotionMagicExpoVoltageValue !=
nullptr)
9908 return SetControl(*MotionMagicExpoVoltageValue);
9910 if (MotionMagicExpoTorqueCurrentFOCValue !=
nullptr)
9911 return SetControl(*MotionMagicExpoTorqueCurrentFOCValue);
9913 if (DynamicMotionMagicDutyCycleValue !=
nullptr)
9914 return SetControl(*DynamicMotionMagicDutyCycleValue);
9916 if (DynamicMotionMagicVoltageValue !=
nullptr)
9917 return SetControl(*DynamicMotionMagicVoltageValue);
9919 if (DynamicMotionMagicTorqueCurrentFOCValue !=
nullptr)
9920 return SetControl(*DynamicMotionMagicTorqueCurrentFOCValue);
9921 auto *Diff_DutyCycleOut_PositionValue =
dynamic_cast<controls::compound::Diff_DutyCycleOut_Position *
>(ptr);
9922 if (Diff_DutyCycleOut_PositionValue !=
nullptr)
9923 return SetControl(*Diff_DutyCycleOut_PositionValue);
9924 auto *Diff_PositionDutyCycle_PositionValue =
dynamic_cast<controls::compound::Diff_PositionDutyCycle_Position *
>(ptr);
9925 if (Diff_PositionDutyCycle_PositionValue !=
nullptr)
9926 return SetControl(*Diff_PositionDutyCycle_PositionValue);
9927 auto *Diff_VelocityDutyCycle_PositionValue =
dynamic_cast<controls::compound::Diff_VelocityDutyCycle_Position *
>(ptr);
9928 if (Diff_VelocityDutyCycle_PositionValue !=
nullptr)
9929 return SetControl(*Diff_VelocityDutyCycle_PositionValue);
9930 auto *Diff_MotionMagicDutyCycle_PositionValue =
dynamic_cast<controls::compound::Diff_MotionMagicDutyCycle_Position *
>(ptr);
9931 if (Diff_MotionMagicDutyCycle_PositionValue !=
nullptr)
9932 return SetControl(*Diff_MotionMagicDutyCycle_PositionValue);
9933 auto *Diff_DutyCycleOut_VelocityValue =
dynamic_cast<controls::compound::Diff_DutyCycleOut_Velocity *
>(ptr);
9934 if (Diff_DutyCycleOut_VelocityValue !=
nullptr)
9935 return SetControl(*Diff_DutyCycleOut_VelocityValue);
9936 auto *Diff_PositionDutyCycle_VelocityValue =
dynamic_cast<controls::compound::Diff_PositionDutyCycle_Velocity *
>(ptr);
9937 if (Diff_PositionDutyCycle_VelocityValue !=
nullptr)
9938 return SetControl(*Diff_PositionDutyCycle_VelocityValue);
9939 auto *Diff_VelocityDutyCycle_VelocityValue =
dynamic_cast<controls::compound::Diff_VelocityDutyCycle_Velocity *
>(ptr);
9940 if (Diff_VelocityDutyCycle_VelocityValue !=
nullptr)
9941 return SetControl(*Diff_VelocityDutyCycle_VelocityValue);
9942 auto *Diff_MotionMagicDutyCycle_VelocityValue =
dynamic_cast<controls::compound::Diff_MotionMagicDutyCycle_Velocity *
>(ptr);
9943 if (Diff_MotionMagicDutyCycle_VelocityValue !=
nullptr)
9944 return SetControl(*Diff_MotionMagicDutyCycle_VelocityValue);
9945 auto *Diff_VoltageOut_PositionValue =
dynamic_cast<controls::compound::Diff_VoltageOut_Position *
>(ptr);
9946 if (Diff_VoltageOut_PositionValue !=
nullptr)
9947 return SetControl(*Diff_VoltageOut_PositionValue);
9948 auto *Diff_PositionVoltage_PositionValue =
dynamic_cast<controls::compound::Diff_PositionVoltage_Position *
>(ptr);
9949 if (Diff_PositionVoltage_PositionValue !=
nullptr)
9950 return SetControl(*Diff_PositionVoltage_PositionValue);
9951 auto *Diff_VelocityVoltage_PositionValue =
dynamic_cast<controls::compound::Diff_VelocityVoltage_Position *
>(ptr);
9952 if (Diff_VelocityVoltage_PositionValue !=
nullptr)
9953 return SetControl(*Diff_VelocityVoltage_PositionValue);
9954 auto *Diff_MotionMagicVoltage_PositionValue =
dynamic_cast<controls::compound::Diff_MotionMagicVoltage_Position *
>(ptr);
9955 if (Diff_MotionMagicVoltage_PositionValue !=
nullptr)
9956 return SetControl(*Diff_MotionMagicVoltage_PositionValue);
9957 auto *Diff_VoltageOut_VelocityValue =
dynamic_cast<controls::compound::Diff_VoltageOut_Velocity *
>(ptr);
9958 if (Diff_VoltageOut_VelocityValue !=
nullptr)
9959 return SetControl(*Diff_VoltageOut_VelocityValue);
9960 auto *Diff_PositionVoltage_VelocityValue =
dynamic_cast<controls::compound::Diff_PositionVoltage_Velocity *
>(ptr);
9961 if (Diff_PositionVoltage_VelocityValue !=
nullptr)
9962 return SetControl(*Diff_PositionVoltage_VelocityValue);
9963 auto *Diff_VelocityVoltage_VelocityValue =
dynamic_cast<controls::compound::Diff_VelocityVoltage_Velocity *
>(ptr);
9964 if (Diff_VelocityVoltage_VelocityValue !=
nullptr)
9965 return SetControl(*Diff_VelocityVoltage_VelocityValue);
9966 auto *Diff_MotionMagicVoltage_VelocityValue =
dynamic_cast<controls::compound::Diff_MotionMagicVoltage_Velocity *
>(ptr);
9967 if (Diff_MotionMagicVoltage_VelocityValue !=
nullptr)
9968 return SetControl(*Diff_MotionMagicVoltage_VelocityValue);
9969 auto *Diff_TorqueCurrentFOC_PositionValue =
dynamic_cast<controls::compound::Diff_TorqueCurrentFOC_Position *
>(ptr);
9970 if (Diff_TorqueCurrentFOC_PositionValue !=
nullptr)
9971 return SetControl(*Diff_TorqueCurrentFOC_PositionValue);
9972 auto *Diff_PositionTorqueCurrentFOC_PositionValue =
dynamic_cast<controls::compound::Diff_PositionTorqueCurrentFOC_Position *
>(ptr);
9973 if (Diff_PositionTorqueCurrentFOC_PositionValue !=
nullptr)
9974 return SetControl(*Diff_PositionTorqueCurrentFOC_PositionValue);
9975 auto *Diff_VelocityTorqueCurrentFOC_PositionValue =
dynamic_cast<controls::compound::Diff_VelocityTorqueCurrentFOC_Position *
>(ptr);
9976 if (Diff_VelocityTorqueCurrentFOC_PositionValue !=
nullptr)
9977 return SetControl(*Diff_VelocityTorqueCurrentFOC_PositionValue);
9978 auto *Diff_MotionMagicTorqueCurrentFOC_PositionValue =
dynamic_cast<controls::compound::Diff_MotionMagicTorqueCurrentFOC_Position *
>(ptr);
9979 if (Diff_MotionMagicTorqueCurrentFOC_PositionValue !=
nullptr)
9980 return SetControl(*Diff_MotionMagicTorqueCurrentFOC_PositionValue);
9981 auto *Diff_TorqueCurrentFOC_VelocityValue =
dynamic_cast<controls::compound::Diff_TorqueCurrentFOC_Velocity *
>(ptr);
9982 if (Diff_TorqueCurrentFOC_VelocityValue !=
nullptr)
9983 return SetControl(*Diff_TorqueCurrentFOC_VelocityValue);
9984 auto *Diff_PositionTorqueCurrentFOC_VelocityValue =
dynamic_cast<controls::compound::Diff_PositionTorqueCurrentFOC_Velocity *
>(ptr);
9985 if (Diff_PositionTorqueCurrentFOC_VelocityValue !=
nullptr)
9986 return SetControl(*Diff_PositionTorqueCurrentFOC_VelocityValue);
9987 auto *Diff_VelocityTorqueCurrentFOC_VelocityValue =
dynamic_cast<controls::compound::Diff_VelocityTorqueCurrentFOC_Velocity *
>(ptr);
9988 if (Diff_VelocityTorqueCurrentFOC_VelocityValue !=
nullptr)
9989 return SetControl(*Diff_VelocityTorqueCurrentFOC_VelocityValue);
9990 auto *Diff_MotionMagicTorqueCurrentFOC_VelocityValue =
dynamic_cast<controls::compound::Diff_MotionMagicTorqueCurrentFOC_Velocity *
>(ptr);
9991 if (Diff_MotionMagicTorqueCurrentFOC_VelocityValue !=
nullptr)
9992 return SetControl(*Diff_MotionMagicTorqueCurrentFOC_VelocityValue);
ii that the Software will be uninterrupted or error free
Definition: CTRE_LICENSE.txt:226
CTREXPORT int c_ctre_phoenix6_serialize_double(int spn, double value, char **str)
Class for getting information about an available CAN bus.
Definition: CANBus.hpp:19
Configs that affect audible components of the device.
Definition: Configs.hpp:3004
std::string Serialize() const override
Definition: Configs.hpp:3109
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:3119
std::string ToString() const override
Definition: Configs.hpp:3099
Configs that affect general behavior during closed-looping.
Definition: Configs.hpp:3659
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:3696
std::string ToString() const override
Definition: Configs.hpp:3680
std::string Serialize() const override
Definition: Configs.hpp:3688
Configs that affect the closed-loop control of this motor controller.
Definition: Configs.hpp:2301
std::string Serialize() const override
Definition: Configs.hpp:2459
std::string ToString() const override
Definition: Configs.hpp:2449
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:2469
Configs that directly affect current limiting features.
Definition: Configs.hpp:830
std::string Serialize() const override
Definition: Configs.hpp:1091
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:1104
std::string ToString() const override
Definition: Configs.hpp:1078
Custom Params.
Definition: Configs.hpp:3555
std::string ToString() const override
Definition: Configs.hpp:3624
std::string Serialize() const override
Definition: Configs.hpp:3633
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:3642
Configs related to constants used for differential control of a mechanism.
Definition: Configs.hpp:1989
std::string Serialize() const override
Definition: Configs.hpp:2099
std::string ToString() const override
Definition: Configs.hpp:2089
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:2109
Configs related to sensors used for differential control of a mechanism.
Definition: Configs.hpp:1810
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:1970
std::string Serialize() const override
Definition: Configs.hpp:1960
std::string ToString() const override
Definition: Configs.hpp:1950
Configs that affect the feedback of this motor controller.
Definition: Configs.hpp:1429
std::string ToString() const override
Definition: Configs.hpp:1754
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:1780
std::string Serialize() const override
Definition: Configs.hpp:1767
Configs that change how the motor controller behaves under different limit switch states.
Definition: Configs.hpp:2496
std::string ToString() const override
Definition: Configs.hpp:2935
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:2973
std::string Serialize() const override
Definition: Configs.hpp:2954
Configs for Motion Magic®.
Definition: Configs.hpp:3303
std::string Serialize() const override
Definition: Configs.hpp:3513
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:3525
std::string ToString() const override
Definition: Configs.hpp:3501
Configs that directly affect motor output.
Definition: Configs.hpp:589
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:800
std::string ToString() const override
Definition: Configs.hpp:774
std::string Serialize() const override
Definition: Configs.hpp:787
Configs that affect the open-loop control of this motor controller.
Definition: Configs.hpp:2134
std::string Serialize() const override
Definition: Configs.hpp:2266
std::string ToString() const override
Definition: Configs.hpp:2256
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:2276
Definition: Configs.hpp:38
Definition: Configurator.hpp:21
ctre::phoenix::StatusCode SetConfigsPrivate(const std::string &serializedString, units::time::second_t timeoutSeconds, bool futureProofConfigs, bool overrideIfDuplicate)
Definition: Configurator.hpp:40
ctre::phoenix::StatusCode GetConfigsPrivate(std::string &serializedString, units::time::second_t timeoutSeconds) const
Definition: Configurator.hpp:63
units::time::second_t DefaultTimeoutSeconds
The default maximum amount of time to wait for a config.
Definition: Configurator.hpp:26
Gains for the specified slot.
Definition: Configs.hpp:3713
std::string ToString() const override
Definition: Configs.hpp:4137
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:4169
std::string Serialize() const override
Definition: Configs.hpp:4153
Gains for the specified slot.
Definition: Configs.hpp:4208
std::string Serialize() const override
Definition: Configs.hpp:4648
std::string ToString() const override
Definition: Configs.hpp:4632
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:4664
Gains for the specified slot.
Definition: Configs.hpp:4703
std::string Serialize() const override
Definition: Configs.hpp:5143
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:5159
std::string ToString() const override
Definition: Configs.hpp:5127
Gains for the specified slot.
Definition: Configs.hpp:5197
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize)
Definition: Configs.hpp:5714
std::string Serialize() const
Definition: Configs.hpp:5697
Configs that affect how software-limit switches behave.
Definition: Configs.hpp:3138
std::string ToString() const override
Definition: Configs.hpp:3257
std::string Serialize() const override
Definition: Configs.hpp:3268
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:3279
Class description for the Talon FX integrated motor controller.
Definition: CoreTalonFX.hpp:100
TorqueCurrentConfigs TorqueCurrent
Configs that affect Torque Current control types.
Definition: CoreTalonFX.hpp:151
constexpr TalonFXConfiguration & WithTorqueCurrent(TorqueCurrentConfigs newTorqueCurrent)
Modifies this configuration's TorqueCurrent parameter and returns itself for method-chaining and easi...
Definition: CoreTalonFX.hpp:333
MotorOutputConfigs MotorOutput
Configs that directly affect motor output.
Definition: CoreTalonFX.hpp:126
constexpr TalonFXConfiguration & WithAudio(AudioConfigs newAudio)
Modifies this configuration's Audio parameter and returns itself for method-chaining and easier to us...
Definition: CoreTalonFX.hpp:461
constexpr TalonFXConfiguration & WithOpenLoopRamps(OpenLoopRampsConfigs newOpenLoopRamps)
Modifies this configuration's OpenLoopRamps parameter and returns itself for method-chaining and easi...
Definition: CoreTalonFX.hpp:406
bool FutureProofConfigs
True if we should factory default newer unsupported configs, false to leave newer unsupported configs...
Definition: CoreTalonFX.hpp:117
constexpr TalonFXConfiguration & WithSlot1(Slot1Configs newSlot1)
Modifies this configuration's Slot1 parameter and returns itself for method-chaining and easier to us...
Definition: CoreTalonFX.hpp:567
constexpr TalonFXConfiguration & WithHardwareLimitSwitch(HardwareLimitSwitchConfigs newHardwareLimitSwitch)
Modifies this configuration's HardwareLimitSwitch parameter and returns itself for method-chaining an...
Definition: CoreTalonFX.hpp:444
constexpr TalonFXConfiguration & WithFeedback(FeedbackConfigs newFeedback)
Modifies this configuration's Feedback parameter and returns itself for method-chaining and easier to...
Definition: CoreTalonFX.hpp:353
constexpr TalonFXConfiguration & WithClosedLoopRamps(ClosedLoopRampsConfigs newClosedLoopRamps)
Modifies this configuration's ClosedLoopRamps parameter and returns itself for method-chaining and ea...
Definition: CoreTalonFX.hpp:424
constexpr TalonFXConfiguration & WithMotionMagic(MotionMagicConfigs newMotionMagic)
Modifies this configuration's MotionMagic parameter and returns itself for method-chaining and easier...
Definition: CoreTalonFX.hpp:497
constexpr TalonFXConfiguration & WithDifferentialConstants(DifferentialConstantsConfigs newDifferentialConstants)
Modifies this configuration's DifferentialConstants parameter and returns itself for method-chaining ...
Definition: CoreTalonFX.hpp:389
constexpr TalonFXConfiguration & WithClosedLoopGeneral(ClosedLoopGeneralConfigs newClosedLoopGeneral)
Modifies this configuration's ClosedLoopGeneral parameter and returns itself for method-chaining and ...
Definition: CoreTalonFX.hpp:531
constexpr TalonFXConfiguration & WithCustomParams(CustomParamsConfigs newCustomParams)
Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easie...
Definition: CoreTalonFX.hpp:514
constexpr TalonFXConfiguration()=default
constexpr TalonFXConfiguration & WithSlot2(Slot2Configs newSlot2)
Modifies this configuration's Slot2 parameter and returns itself for method-chaining and easier to us...
Definition: CoreTalonFX.hpp:585
DifferentialConstantsConfigs DifferentialConstants
Configs related to constants used for differential control of a mechanism.
Definition: CoreTalonFX.hpp:177
constexpr TalonFXConfiguration & WithDifferentialSensors(DifferentialSensorsConfigs newDifferentialSensors)
Modifies this configuration's DifferentialSensors parameter and returns itself for method-chaining an...
Definition: CoreTalonFX.hpp:371
VoltageConfigs Voltage
Configs that affect Voltage control types.
Definition: CoreTalonFX.hpp:142
HardwareLimitSwitchConfigs HardwareLimitSwitch
Configs that change how the motor controller behaves under different limit switch states.
Definition: CoreTalonFX.hpp:203
constexpr TalonFXConfiguration & WithCurrentLimits(CurrentLimitsConfigs newCurrentLimits)
Modifies this configuration's CurrentLimits parameter and returns itself for method-chaining and easi...
Definition: CoreTalonFX.hpp:296
ClosedLoopRampsConfigs ClosedLoopRamps
Configs that affect the closed-loop control of this motor controller.
Definition: CoreTalonFX.hpp:193
Slot2Configs Slot2
Gains for the specified slot.
Definition: CoreTalonFX.hpp:264
OpenLoopRampsConfigs OpenLoopRamps
Configs that affect the open-loop control of this motor controller.
Definition: CoreTalonFX.hpp:185
SoftwareLimitSwitchConfigs SoftwareLimitSwitch
Configs that affect how software-limit switches behave.
Definition: CoreTalonFX.hpp:218
MotionMagicConfigs MotionMagic
Configs for Motion Magic®.
Definition: CoreTalonFX.hpp:226
std::string ToString() const
Get the string representation of this configuration.
Definition: CoreTalonFX.hpp:594
FeedbackConfigs Feedback
Configs that affect the feedback of this motor controller.
Definition: CoreTalonFX.hpp:161
Slot0Configs Slot0
Gains for the specified slot.
Definition: CoreTalonFX.hpp:248
constexpr TalonFXConfiguration & WithSlot0(Slot0Configs newSlot0)
Modifies this configuration's Slot0 parameter and returns itself for method-chaining and easier to us...
Definition: CoreTalonFX.hpp:549
AudioConfigs Audio
Configs that affect audible components of the device.
Definition: CoreTalonFX.hpp:210
DifferentialSensorsConfigs DifferentialSensors
Configs related to sensors used for differential control of a mechanism.
Definition: CoreTalonFX.hpp:169
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize)
Take a string and deserialize it to this configuration.
Definition: CoreTalonFX.hpp:649
CurrentLimitsConfigs CurrentLimits
Configs that directly affect current limiting features.
Definition: CoreTalonFX.hpp:134
constexpr TalonFXConfiguration & WithMotorOutput(MotorOutputConfigs newMotorOutput)
Modifies this configuration's MotorOutput parameter and returns itself for method-chaining and easier...
Definition: CoreTalonFX.hpp:278
CustomParamsConfigs CustomParams
Custom Params.
Definition: CoreTalonFX.hpp:233
ClosedLoopGeneralConfigs ClosedLoopGeneral
Configs that affect general behavior during closed-looping.
Definition: CoreTalonFX.hpp:240
std::string Serialize() const
Get the serialized form of this configuration.
Definition: CoreTalonFX.hpp:622
constexpr TalonFXConfiguration & WithVoltage(VoltageConfigs newVoltage)
Modifies this configuration's Voltage parameter and returns itself for method-chaining and easier to ...
Definition: CoreTalonFX.hpp:314
Slot1Configs Slot1
Gains for the specified slot.
Definition: CoreTalonFX.hpp:256
constexpr TalonFXConfiguration & WithSoftwareLimitSwitch(SoftwareLimitSwitchConfigs newSoftwareLimitSwitch)
Modifies this configuration's SoftwareLimitSwitch parameter and returns itself for method-chaining an...
Definition: CoreTalonFX.hpp:479
Class description for the Talon FX integrated motor controller.
Definition: CoreTalonFX.hpp:680
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorDataInvalid()
Clear sticky fault: The remote sensor's data is no longer trusted.
Definition: CoreTalonFX.hpp:2656
ctre::phoenix::StatusCode Refresh(AudioConfigs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1361
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorPosOverflow(units::time::second_t timeoutSeconds)
Clear sticky fault: The remote sensor position has overflowed.
Definition: CoreTalonFX.hpp:2319
ctre::phoenix::StatusCode ClearStickyFault_ForwardSoftLimit()
Clear sticky fault: Forward soft limit has been asserted.
Definition: CoreTalonFX.hpp:2536
ctre::phoenix::StatusCode ClearStickyFault_MissingHardLimitRemote(units::time::second_t timeoutSeconds)
Clear sticky fault: The remote limit switch device is not present on CAN Bus.
Definition: CoreTalonFX.hpp:2631
ctre::phoenix::StatusCode Refresh(Slot1Configs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1734
ctre::phoenix::StatusCode SetPosition(units::angle::turn_t newValue)
Sets the mechanism position of the device in mechanism rotations.
Definition: CoreTalonFX.hpp:1907
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorDataInvalid(units::time::second_t timeoutSeconds)
Clear sticky fault: The remote sensor's data is no longer trusted.
Definition: CoreTalonFX.hpp:2676
ctre::phoenix::StatusCode ClearStickyFaults()
Clear the sticky faults in the device.
Definition: CoreTalonFX.hpp:1950
ctre::phoenix::StatusCode Apply(const DifferentialConstantsConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1166
ctre::phoenix::StatusCode Refresh(OpenLoopRampsConfigs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1181
ctre::phoenix::StatusCode Apply(const AudioConfigs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1392
ctre::phoenix::StatusCode Refresh(FeedbackConfigs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1001
ctre::phoenix::StatusCode Apply(const Slot0Configs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1706
ctre::phoenix::StatusCode Refresh(Slot0Configs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1661
ctre::phoenix::StatusCode Refresh(ClosedLoopGeneralConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1614
ctre::phoenix::StatusCode Refresh(SoftwareLimitSwitchConfigs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1421
ctre::phoenix::StatusCode Apply(const TalonFXConfiguration &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:731
ctre::phoenix::StatusCode Apply(const MotionMagicConfigs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1512
ctre::phoenix::StatusCode ClearStickyFault_ProcTemp(units::time::second_t timeoutSeconds)
Clear sticky fault: Processor temperature exceeded limit.
Definition: CoreTalonFX.hpp:2044
ctre::phoenix::StatusCode Apply(const DifferentialSensorsConfigs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1092
ctre::phoenix::StatusCode Refresh(Slot2Configs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1794
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.
Definition: CoreTalonFX.hpp:2198
ctre::phoenix::StatusCode Refresh(ClosedLoopRampsConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1254
ctre::phoenix::StatusCode ClearStickyFault_Undervoltage()
Clear sticky fault: Device supply voltage dropped to near brownout levels.
Definition: CoreTalonFX.hpp:2103
ctre::phoenix::StatusCode Refresh(MotionMagicConfigs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1481
ctre::phoenix::StatusCode Apply(const Slot2Configs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1826
ctre::phoenix::StatusCode ClearStickyFault_OverSupplyV(units::time::second_t timeoutSeconds)
Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
Definition: CoreTalonFX.hpp:2358
ctre::phoenix::StatusCode Apply(const DifferentialConstantsConfigs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1152
ctre::phoenix::StatusCode Refresh(VoltageConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:894
ctre::phoenix::StatusCode ClearStickyFault_ProcTemp()
Clear sticky fault: Processor temperature exceeded limit.
Definition: CoreTalonFX.hpp:2028
ctre::phoenix::StatusCode Refresh(SlotConfigs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1841
ctre::phoenix::StatusCode Refresh(Slot1Configs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1721
ctre::phoenix::StatusCode Refresh(CustomParamsConfigs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1541
ctre::phoenix::StatusCode ClearStickyFault_DeviceTemp()
Clear sticky fault: Device temperature exceeded limit.
Definition: CoreTalonFX.hpp:2065
ctre::phoenix::StatusCode ClearStickyFault_ForwardSoftLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Forward soft limit has been asserted.
Definition: CoreTalonFX.hpp:2553
ctre::phoenix::StatusCode Apply(const CustomParamsConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1586
ctre::phoenix::StatusCode Refresh(ClosedLoopGeneralConfigs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1601
ctre::phoenix::StatusCode Refresh(Slot2Configs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1781
ctre::phoenix::StatusCode SetPosition(units::angle::turn_t newValue, units::time::second_t timeoutSeconds)
Sets the mechanism position of the device in mechanism rotations.
Definition: CoreTalonFX.hpp:1925
ctre::phoenix::StatusCode ClearStickyFault_Hardware()
Clear sticky fault: Hardware fault occurred.
Definition: CoreTalonFX.hpp:1991
ctre::phoenix::StatusCode Apply(const SlotConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1886
ctre::phoenix::StatusCode Apply(const OpenLoopRampsConfigs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1212
ctre::phoenix::StatusCode Apply(const Slot1Configs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1766
ctre::phoenix::StatusCode ClearStickyFault_ReverseSoftLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Reverse soft limit has been asserted.
Definition: CoreTalonFX.hpp:2514
ctre::phoenix::StatusCode ClearStickyFault_ReverseSoftLimit()
Clear sticky fault: Reverse soft limit has been asserted.
Definition: CoreTalonFX.hpp:2497
ctre::phoenix::StatusCode Refresh(VoltageConfigs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:881
ctre::phoenix::StatusCode Refresh(FeedbackConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1014
ctre::phoenix::StatusCode Apply(const ClosedLoopRampsConfigs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1272
ctre::phoenix::StatusCode Apply(const TalonFXConfiguration &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:745
ctre::phoenix::StatusCode Apply(const ClosedLoopRampsConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1286
ctre::phoenix::StatusCode Apply(const SoftwareLimitSwitchConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1466
ctre::phoenix::StatusCode Apply(const Slot0Configs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1692
ctre::phoenix::StatusCode Apply(const CustomParamsConfigs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1572
ctre::phoenix::StatusCode Apply(const TorqueCurrentConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:986
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.
Definition: CoreTalonFX.hpp:2721
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorPosOverflow()
Clear sticky fault: The remote sensor position has overflowed.
Definition: CoreTalonFX.hpp:2299
ctre::phoenix::StatusCode ClearStickyFault_Hardware(units::time::second_t timeoutSeconds)
Clear sticky fault: Hardware fault occurred.
Definition: CoreTalonFX.hpp:2007
ctre::phoenix::StatusCode Apply(const ClosedLoopGeneralConfigs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1632
ctre::phoenix::StatusCode ClearStickyFault_Undervoltage(units::time::second_t timeoutSeconds)
Clear sticky fault: Device supply voltage dropped to near brownout levels.
Definition: CoreTalonFX.hpp:2120
ctre::phoenix::StatusCode Apply(const ClosedLoopGeneralConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1646
ctre::phoenix::StatusCode Refresh(CustomParamsConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1554
ctre::phoenix::StatusCode Refresh(SoftwareLimitSwitchConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1434
ctre::phoenix::StatusCode Apply(const MotorOutputConfigs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:792
ctre::phoenix::StatusCode Apply(const Slot2Configs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1812
ctre::phoenix::StatusCode Apply(const MotionMagicConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1526
ctre::phoenix::StatusCode ClearStickyFaults(units::time::second_t timeoutSeconds)
Clear the sticky faults in the device.
Definition: CoreTalonFX.hpp:1970
ctre::phoenix::StatusCode ClearStickyFault_UnstableSupplyV(units::time::second_t timeoutSeconds)
Clear sticky fault: Supply Voltage is unstable.
Definition: CoreTalonFX.hpp:2397
ctre::phoenix::StatusCode Refresh(AudioConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1374
ctre::phoenix::StatusCode Apply(const VoltageConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:926
ctre::phoenix::StatusCode Refresh(MotorOutputConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:774
ctre::phoenix::StatusCode Refresh(CurrentLimitsConfigs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:821
ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable()
Clear sticky fault: Device boot while detecting the enable signal.
Definition: CoreTalonFX.hpp:2142
ctre::phoenix::StatusCode ClearStickyFault_OverSupplyV()
Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
Definition: CoreTalonFX.hpp:2341
ctre::phoenix::StatusCode Refresh(TalonFXConfiguration &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:713
ctre::phoenix::StatusCode Refresh(DifferentialSensorsConfigs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1061
ctre::phoenix::StatusCode Refresh(TorqueCurrentConfigs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:941
ctre::phoenix::StatusCode ClearStickyFault_BridgeBrownout()
Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
Definition: CoreTalonFX.hpp:2181
ctre::phoenix::StatusCode Apply(const SlotConfigs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1872
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorReset(units::time::second_t timeoutSeconds)
Clear sticky fault: The remote sensor has reset.
Definition: CoreTalonFX.hpp:2235
ctre::phoenix::StatusCode ClearStickyFault_SupplyCurrLimit()
Clear sticky fault: Supply current limit occured.
Definition: CoreTalonFX.hpp:2779
ctre::phoenix::StatusCode ClearStickyFault_UnstableSupplyV()
Clear sticky fault: Supply Voltage is unstable.
Definition: CoreTalonFX.hpp:2380
ctre::phoenix::StatusCode Refresh(OpenLoopRampsConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1194
ctre::phoenix::StatusCode Apply(const Slot1Configs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1752
ctre::phoenix::StatusCode Apply(const SoftwareLimitSwitchConfigs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1452
ctre::phoenix::StatusCode Refresh(DifferentialSensorsConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1074
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.
Definition: CoreTalonFX.hpp:2274
ctre::phoenix::StatusCode ClearStickyFault_ForwardHardLimit()
Clear sticky fault: Forward limit switch has been asserted.
Definition: CoreTalonFX.hpp:2458
ctre::phoenix::StatusCode ClearStickyFault_StatorCurrLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Stator current limit occured.
Definition: CoreTalonFX.hpp:2758
ctre::phoenix::StatusCode ClearStickyFault_MissingHardLimitRemote()
Clear sticky fault: The remote limit switch device is not present on CAN Bus.
Definition: CoreTalonFX.hpp:2614
ctre::phoenix::StatusCode ClearStickyFault_StatorCurrLimit()
Clear sticky fault: Stator current limit occured.
Definition: CoreTalonFX.hpp:2742
ctre::phoenix::StatusCode Apply(const HardwareLimitSwitchConfigs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1332
ctre::phoenix::StatusCode ClearStickyFault_FusedSensorOutOfSync()
Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.
Definition: CoreTalonFX.hpp:2701
ctre::phoenix::StatusCode ClearStickyFault_DeviceTemp(units::time::second_t timeoutSeconds)
Clear sticky fault: Device temperature exceeded limit.
Definition: CoreTalonFX.hpp:2081
ctre::phoenix::StatusCode Apply(const CurrentLimitsConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:866
ctre::phoenix::StatusCode ClearStickyFault_MissingSoftLimitRemote()
Clear sticky fault: The remote soft limit device is not present on CAN Bus.
Definition: CoreTalonFX.hpp:2575
ctre::phoenix::StatusCode ClearStickyFault_ReverseHardLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Reverse limit switch has been asserted.
Definition: CoreTalonFX.hpp:2436
ctre::phoenix::StatusCode Refresh(DifferentialConstantsConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1134
ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable(units::time::second_t timeoutSeconds)
Clear sticky fault: Device boot while detecting the enable signal.
Definition: CoreTalonFX.hpp:2159
ctre::phoenix::StatusCode Apply(const HardwareLimitSwitchConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1346
ctre::phoenix::StatusCode Apply(const VoltageConfigs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:912
ctre::phoenix::StatusCode Apply(const FeedbackConfigs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1032
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorReset()
Clear sticky fault: The remote sensor has reset.
Definition: CoreTalonFX.hpp:2219
ctre::phoenix::StatusCode Refresh(DifferentialConstantsConfigs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1121
ctre::phoenix::StatusCode ClearStickyFault_MissingDifferentialFX()
Clear sticky fault: The remote Talon FX used for differential control is not present on CAN Bus.
Definition: CoreTalonFX.hpp:2257
ctre::phoenix::StatusCode Refresh(Slot0Configs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1674
ctre::phoenix::StatusCode Refresh(TalonFXConfiguration &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:699
ctre::phoenix::StatusCode Apply(const TorqueCurrentConfigs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:972
ctre::phoenix::StatusCode Apply(const DifferentialSensorsConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1106
ctre::phoenix::StatusCode ClearStickyFault_MissingSoftLimitRemote(units::time::second_t timeoutSeconds)
Clear sticky fault: The remote soft limit device is not present on CAN Bus.
Definition: CoreTalonFX.hpp:2592
ctre::phoenix::StatusCode Refresh(HardwareLimitSwitchConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1314
ctre::phoenix::StatusCode Apply(const MotorOutputConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:806
ctre::phoenix::StatusCode ClearStickyFault_ReverseHardLimit()
Clear sticky fault: Reverse limit switch has been asserted.
Definition: CoreTalonFX.hpp:2419
ctre::phoenix::StatusCode Refresh(SlotConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1854
ctre::phoenix::StatusCode Refresh(ClosedLoopRampsConfigs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1241
ctre::phoenix::StatusCode Refresh(MotorOutputConfigs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:761
ctre::phoenix::StatusCode Apply(const OpenLoopRampsConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1226
ctre::phoenix::StatusCode Refresh(MotionMagicConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1494
ctre::phoenix::StatusCode Apply(const FeedbackConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1046
ctre::phoenix::StatusCode Refresh(CurrentLimitsConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:834
ctre::phoenix::StatusCode Apply(const AudioConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:1406
ctre::phoenix::StatusCode ClearStickyFault_SupplyCurrLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Supply current limit occured.
Definition: CoreTalonFX.hpp:2795
ctre::phoenix::StatusCode Apply(const CurrentLimitsConfigs &configs)
Applies the contents of the specified config to the device.
Definition: CoreTalonFX.hpp:852
ctre::phoenix::StatusCode Refresh(TorqueCurrentConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:954
ctre::phoenix::StatusCode Refresh(HardwareLimitSwitchConfigs &configs) const
Refreshes the values of the specified config group.
Definition: CoreTalonFX.hpp:1301
ctre::phoenix::StatusCode ClearStickyFault_ForwardHardLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Forward limit switch has been asserted.
Definition: CoreTalonFX.hpp:2475
Configs that affect Torque Current control types.
Definition: Configs.hpp:1284
std::string ToString() const override
Definition: Configs.hpp:1382
std::string Serialize() const override
Definition: Configs.hpp:1392
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:1402
Configs that affect Voltage control types.
Definition: Configs.hpp:1134
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:1258
std::string Serialize() const override
Definition: Configs.hpp:1248
std::string ToString() const override
Definition: Configs.hpp:1238
Request coast neutral output of actuator.
Definition: CoastOut.hpp:27
Abstract Control Request class that other control requests extend for use.
Definition: ControlRequest.hpp:29
Request a specified motor duty cycle with a differential position closed-loop.
Definition: DifferentialDutyCycle.hpp:31
Follow the differential motor output of another Talon.
Definition: DifferentialFollower.hpp:30
Requests Motion Magic® to target a final position using a motion profile, and PID to a differential p...
Definition: DifferentialMotionMagicDutyCycle.hpp:35
Requests Motion Magic® to target a final position using a motion profile, and PID to a differential p...
Definition: DifferentialMotionMagicVoltage.hpp:34
Request PID to target position with a differential position setpoint.
Definition: DifferentialPositionDutyCycle.hpp:29
Request PID to target position with a differential position setpoint.
Definition: DifferentialPositionVoltage.hpp:29
Follow the differential motor output of another Talon while ignoring the master's invert setting.
Definition: DifferentialStrictFollower.hpp:32
Request PID to target velocity with a differential position setpoint.
Definition: DifferentialVelocityDutyCycle.hpp:30
Request PID to target velocity with a differential position setpoint.
Definition: DifferentialVelocityVoltage.hpp:30
Request a specified voltage with a differential position closed-loop.
Definition: DifferentialVoltage.hpp:31
Request a specified motor duty cycle.
Definition: DutyCycleOut.hpp:28
Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition: DynamicMotionMagicDutyCycle.hpp:41
Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:40
Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition: DynamicMotionMagicVoltage.hpp:40
Follow the motor output of another Talon.
Definition: Follower.hpp:30
Requests Motion Magic® to target a final position using a motion profile.
Definition: MotionMagicDutyCycle.hpp:36
Requests Motion Magic® to target a final position using an exponential motion profile.
Definition: MotionMagicExpoDutyCycle.hpp:39
Requires Phoenix Pro; Requests Motion Magic® to target a final position using an exponential motion p...
Definition: MotionMagicExpoTorqueCurrentFOC.hpp:39
Requests Motion Magic® to target a final position using an exponential motion profile.
Definition: MotionMagicExpoVoltage.hpp:38
Requires Phoenix Pro; Requests Motion Magic® to target a final position using a motion profile.
Definition: MotionMagicTorqueCurrentFOC.hpp:36
Requests Motion Magic® to target a final velocity using a motion profile.
Definition: MotionMagicVelocityDutyCycle.hpp:43
Requests Motion Magic® to target a final velocity using a motion profile.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:43
Requests Motion Magic® to target a final velocity using a motion profile.
Definition: MotionMagicVelocityVoltage.hpp:42
Requests Motion Magic® to target a final position using a motion profile.
Definition: MotionMagicVoltage.hpp:35
Plays a single tone at the user specified frequency.
Definition: MusicTone.hpp:26
Request neutral output of actuator.
Definition: NeutralOut.hpp:27
Request PID to target position with duty cycle feedforward.
Definition: PositionDutyCycle.hpp:31
Requires Phoenix Pro; Request PID to target position with torque current feedforward.
Definition: PositionTorqueCurrentFOC.hpp:32
Request PID to target position with voltage feedforward.
Definition: PositionVoltage.hpp:31
Applies full neutral-brake by shorting motor leads together.
Definition: StaticBrake.hpp:26
Follow the motor output of another Talon while ignoring the master's invert setting.
Definition: StrictFollower.hpp:32
Requires Phoenix Pro; Request a specified motor current (field oriented control).
Definition: TorqueCurrentFOC.hpp:32
Request PID to target velocity with duty cycle feedforward.
Definition: VelocityDutyCycle.hpp:31
Requires Phoenix Pro; Request PID to target velocity with torque current feedforward.
Definition: VelocityTorqueCurrentFOC.hpp:32
Request PID to target velocity with voltage feedforward.
Definition: VelocityVoltage.hpp:31
Request a specified voltage.
Definition: VoltageOut.hpp:29
Definition: DeviceIdentifier.hpp:19
Parent class for all devices.
Definition: ParentDevice.hpp:29
Class description for the Talon FX integrated motor controller.
Definition: CoreTalonFX.hpp:2813
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorReset(units::time::second_t timeoutSeconds)
Clear sticky fault: The remote sensor has reset.
Definition: CoreTalonFX.hpp:10210
ctre::phoenix::StatusCode SetControl(controls::MotionMagicVoltage &&request)
Requests Motion Magic® to target a final position using a motion profile.
Definition: CoreTalonFX.hpp:6618
ctre::phoenix::StatusCode SetControl(controls::DifferentialDutyCycle &request)
Request a specified motor duty cycle with a differential position closed-loop.
CoreTalonFX(int deviceId, CANBus canbus)
Constructs a new Talon FX motor controller object.
Definition: CoreTalonFX.hpp:3665
ctre::phoenix::StatusCode ClearStickyFault_ForwardSoftLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Forward soft limit has been asserted.
Definition: CoreTalonFX.hpp:10407
CoreTalonFX(int deviceId, std::string canbus="")
Constructs a new Talon FX motor controller object.
StatusSignal< bool > & GetStickyFault_DeviceTemp(bool refresh=true)
Device temperature exceeded limit.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_MotionMagicDutyCycle_Position &&request)
Differential control with Motion Magic® average target and position difference target using dutycycle...
Definition: CoreTalonFX.hpp:9204
ctre::phoenix::StatusCode SetControl(controls::MotionMagicExpoTorqueCurrentFOC &&request)
Requests Motion Magic® to target a final position using an exponential motion profile.
Definition: CoreTalonFX.hpp:8710
StatusSignal< bool > & GetStickyFault_BridgeBrownout(bool refresh=true)
Bridge was disabled most likely due to supply voltage dropping too low.
ctre::phoenix::StatusCode ClearStickyFault_OverSupplyV()
Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
Definition: CoreTalonFX.hpp:10299
StatusSignal< units::angle::turn_t > & GetRotorPosition(bool refresh=true)
Position of the motor rotor.
StatusSignal< units::angle::turn_t > & GetPosition(bool refresh=true)
Position of the device in mechanism rotations.
ctre::phoenix::StatusCode SetControl(controls::MotionMagicVelocityVoltage &request)
Requests Motion Magic® to target a final velocity using a motion profile.
StatusSignal< signals::MotionMagicIsRunningValue > & GetMotionMagicIsRunning(bool refresh=true)
Check if Motion Magic® is running.
StatusSignal< bool > & GetFault_SupplyCurrLimit(bool refresh=true)
Supply current limit occured.
StatusSignal< units::temperature::celsius_t > & GetDeviceTemp(bool refresh=true)
Temperature of device.
ctre::phoenix::StatusCode SetControl(controls::MusicTone &request)
Plays a single tone at the user specified frequency.
StatusSignal< bool > & GetStickyFault_RemoteSensorReset(bool refresh=true)
The remote sensor has reset.
ctre::phoenix::StatusCode SetControl(controls::StrictFollower &&request)
Follow the motor output of another Talon while ignoring the master's invert setting.
Definition: CoreTalonFX.hpp:7712
StatusSignal< signals::DifferentialControlModeValue > & GetDifferentialControlMode(bool refresh=true)
The active control mode of the differential controller.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_VelocityDutyCycle_Velocity &request)
Differential control with velocity average target and velocity difference target using dutycycle cont...
ctre::phoenix::StatusCode SetControl(controls::ControlRequest &&request)
Control motor with generic control request object.
Definition: CoreTalonFX.hpp:10004
StatusSignal< int > & GetVersionMinor(bool refresh=true)
App Minor Version number.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_MotionMagicVoltage_Velocity &request)
Differential control with Motion Magic® average target and velocity difference target using voltage c...
ctre::phoenix::StatusCode SetControl(controls::DifferentialFollower &&request)
Follow the differential motor output of another Talon.
Definition: CoreTalonFX.hpp:7762
ctre::phoenix::StatusCode ClearStickyFaults(units::time::second_t timeoutSeconds)
Clear the sticky faults in the device.
Definition: CoreTalonFX.hpp:10046
ctre::phoenix::StatusCode SetControl(controls::DifferentialMotionMagicVoltage &request)
Requests Motion Magic® to target a final position using a motion profile, and PID to a differential p...
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_MotionMagicDutyCycle_Velocity &&request)
Differential control with Motion Magic® average target and velocity difference target using dutycycle...
Definition: CoreTalonFX.hpp:9324
ctre::phoenix::StatusCode ClearStickyFault_ForwardSoftLimit()
Clear sticky fault: Forward soft limit has been asserted.
Definition: CoreTalonFX.hpp:10419
ctre::phoenix::StatusCode SetControl(controls::CoastOut &&request)
Request coast neutral output of actuator.
Definition: CoreTalonFX.hpp:7866
StatusSignal< bool > & GetStickyFault_OverSupplyV(bool refresh=true)
Supply Voltage has exceeded the maximum voltage rating of device.
StatusSignal< signals::ForwardLimitValue > & GetForwardLimit(bool refresh=true)
Forward Limit Pin.
ctre::phoenix::StatusCode SetControl(controls::DifferentialPositionVoltage &&request)
Request PID to target position with a differential position setpoint.
Definition: CoreTalonFX.hpp:7150
StatusSignal< int > & GetStickyFaultField(bool refresh=true)
Integer representing all sticky faults.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_DutyCycleOut_Velocity &&request)
Differential control with duty cycle average target and velocity difference target.
Definition: CoreTalonFX.hpp:9234
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_MotionMagicDutyCycle_Position &request)
Differential control with Motion Magic® average target and position difference target using dutycycle...
ctre::phoenix::StatusCode SetControl(controls::DifferentialStrictFollower &request)
Follow the differential motor output of another Talon while ignoring the master's invert setting.
StatusSignal< bool > & GetFault_ReverseHardLimit(bool refresh=true)
Reverse limit switch has been asserted.
ctre::phoenix::StatusCode ClearStickyFault_DeviceTemp()
Clear sticky fault: Device temperature exceeded limit.
Definition: CoreTalonFX.hpp:10127
StatusSignal< bool > & GetStickyFault_RemoteSensorPosOverflow(bool refresh=true)
The remote sensor position has overflowed.
StatusSignal< bool > & GetFault_RemoteSensorDataInvalid(bool refresh=true)
The remote sensor's data is no longer trusted.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_PositionTorqueCurrentFOC_Position &&request)
Differential control with position average target and position difference target using torque current...
Definition: CoreTalonFX.hpp:9608
ctre::phoenix::StatusCode SetControl(controls::Follower &request)
Follow the motor output of another Talon.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_MotionMagicVoltage_Velocity &&request)
Differential control with Motion Magic® average target and velocity difference target using voltage c...
Definition: CoreTalonFX.hpp:9548
StatusSignal< bool > & GetStickyFault_BootDuringEnable(bool refresh=true)
Device boot while detecting the enable signal.
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorPosOverflow(units::time::second_t timeoutSeconds)
Clear sticky fault: The remote sensor position has overflowed.
Definition: CoreTalonFX.hpp:10260
ctre::phoenix::StatusCode SetControl(controls::DutyCycleOut &&request)
Request a specified motor duty cycle.
Definition: CoreTalonFX.hpp:5606
ctre::phoenix::StatusCode SetControl(controls::CoastOut &request)
Request coast neutral output of actuator.
ctre::phoenix::StatusCode SetControl(controls::MotionMagicVelocityDutyCycle &&request)
Requests Motion Magic® to target a final velocity using a motion profile.
Definition: CoreTalonFX.hpp:8068
StatusSignal< double > & GetDifferentialClosedLoopDerivativeOutput(bool refresh=true)
Differential closed loop derivative component.
ctre::phoenix::StatusCode ClearStickyFault_ProcTemp(units::time::second_t timeoutSeconds)
Clear sticky fault: Processor temperature exceeded limit.
Definition: CoreTalonFX.hpp:10094
ctre::phoenix::StatusCode ClearStickyFault_SupplyCurrLimit()
Clear sticky fault: Supply current limit occured.
Definition: CoreTalonFX.hpp:10571
StatusSignal< signals::MotorOutputStatusValue > & GetMotorOutputStatus(bool refresh=true)
Assess the status of the motor output with respect to load and supply.
ctre::phoenix::StatusCode SetControl(controls::DifferentialMotionMagicDutyCycle &request)
Requests Motion Magic® to target a final position using a motion profile, and PID to a differential p...
ctre::phoenix::StatusCode SetControl(controls::Follower &&request)
Follow the motor output of another Talon.
Definition: CoreTalonFX.hpp:7672
ctre::phoenix::StatusCode SetControl(controls::DynamicMotionMagicVoltage &&request)
Requests Motion Magic® to target a final position using a motion profile.
Definition: CoreTalonFX.hpp:8974
StatusSignal< bool > & GetFault_RemoteSensorPosOverflow(bool refresh=true)
The remote sensor position has overflowed.
ctre::phoenix::StatusCode SetControl(controls::DifferentialPositionVoltage &request)
Request PID to target position with a differential position setpoint.
ctre::phoenix::StatusCode ClearStickyFault_DeviceTemp(units::time::second_t timeoutSeconds)
Clear sticky fault: Device temperature exceeded limit.
Definition: CoreTalonFX.hpp:10116
StatusSignal< signals::ReverseLimitValue > & GetReverseLimit(bool refresh=true)
Reverse Limit Pin.
StatusSignal< bool > & GetFault_ForwardSoftLimit(bool refresh=true)
Forward soft limit has been asserted.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_VelocityDutyCycle_Position &request)
Differential control with velocity average target and position difference target using dutycycle cont...
configs::TalonFXConfigurator const & GetConfigurator() const
Gets the configurator for this TalonFX.
Definition: CoreTalonFX.hpp:3688
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_VoltageOut_Position &&request)
Differential control with voltage average target and position difference target.
Definition: CoreTalonFX.hpp:9352
StatusSignal< int > & GetVersion(bool refresh=true)
Full Version.
StatusSignal< int > & GetDifferentialClosedLoopSlot(bool refresh=true)
Differential Closed loop slot in use.
ctre::phoenix::StatusCode ClearStickyFault_OverSupplyV(units::time::second_t timeoutSeconds)
Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
Definition: CoreTalonFX.hpp:10287
StatusSignal< bool > & GetFault_UnlicensedFeatureInUse(bool refresh=true)
An unlicensed feature is in use, device may not behave as expected.
ctre::phoenix::StatusCode SetControl(controls::DynamicMotionMagicTorqueCurrentFOC &request)
Requests Motion Magic® to target a final position using a motion profile.
StatusSignal< bool > & GetFault_UsingFusedCANcoderWhileUnlicensed(bool refresh=true)
Using Fused CANcoder feature while unlicensed.
ctre::phoenix::StatusCode SetControl(controls::VelocityDutyCycle &&request)
Request PID to target velocity with duty cycle feedforward.
Definition: CoreTalonFX.hpp:6194
ctre::phoenix::StatusCode ClearStickyFault_StatorCurrLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Stator current limit occured.
Definition: CoreTalonFX.hpp:10538
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorReset()
Clear sticky fault: The remote sensor has reset.
Definition: CoreTalonFX.hpp:10221
ctre::phoenix::StatusCode SetControl(controls::MotionMagicExpoDutyCycle &&request)
Requests Motion Magic® to target a final position using an exponential motion profile.
Definition: CoreTalonFX.hpp:8480
StatusSignal< bool > & GetStickyFault_MissingHardLimitRemote(bool refresh=true)
The remote limit switch device is not present on CAN Bus.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_DutyCycleOut_Position &&request)
Differential control with duty cycle average target and position difference target.
Definition: CoreTalonFX.hpp:9114
StatusSignal< int > & GetClosedLoopSlot(bool refresh=true)
Closed loop slot in use.
ctre::phoenix::StatusCode ClearStickyFault_ReverseSoftLimit()
Clear sticky fault: Reverse soft limit has been asserted.
Definition: CoreTalonFX.hpp:10395
StatusSignal< double > & GetDifferentialClosedLoopReferenceSlope(bool refresh=true)
Derivative of the target that the differential closed loop is targeting.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_PositionTorqueCurrentFOC_Position &request)
Differential control with position average target and position difference target using torque current...
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.
Definition: CoreTalonFX.hpp:10187
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_MotionMagicTorqueCurrentFOC_Position &&request)
Differential control with Motion Magic® average target and position difference target using torque cu...
Definition: CoreTalonFX.hpp:9670
ctre::phoenix::StatusCode SetControl(controls::DifferentialPositionDutyCycle &&request)
Request PID to target position with a differential position setpoint.
Definition: CoreTalonFX.hpp:7038
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_PositionVoltage_Velocity &&request)
Differential control with position average target and velocity difference target using voltage contro...
Definition: CoreTalonFX.hpp:9492
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_MotionMagicDutyCycle_Velocity &request)
Differential control with Motion Magic® average target and velocity difference target using dutycycle...
StatusSignal< signals::BridgeOutputValue > & GetBridgeOutput(bool refresh=true)
The applied output of the bridge.
ctre::phoenix::StatusCode ClearStickyFault_ProcTemp()
Clear sticky fault: Processor temperature exceeded limit.
Definition: CoreTalonFX.hpp:10105
StatusSignal< bool > & GetStickyFault_StaticBrakeDisabled(bool refresh=true)
Static brake was momentarily disabled due to excessive braking current while disabled.
ctre::phoenix::StatusCode SetControl(controls::MotionMagicVelocityDutyCycle &request)
Requests Motion Magic® to target a final velocity using a motion profile.
StatusSignal< double > & GetDifferentialClosedLoopReference(bool refresh=true)
Value that the differential closed loop is targeting.
StatusSignal< bool > & GetStickyFault_ReverseSoftLimit(bool refresh=true)
Reverse soft limit has been asserted.
ctre::phoenix::StatusCode SetControl(controls::VelocityTorqueCurrentFOC &&request)
Request PID to target velocity with torque current feedforward.
Definition: CoreTalonFX.hpp:6386
StatusSignal< bool > & GetFault_MissingDifferentialFX(bool refresh=true)
The remote Talon FX used for differential control is not present on CAN Bus.
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorDataInvalid(units::time::second_t timeoutSeconds)
Clear sticky fault: The remote sensor's data is no longer trusted.
Definition: CoreTalonFX.hpp:10482
StatusSignal< bool > & GetFault_Hardware(bool refresh=true)
Hardware fault occurred.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_VelocityDutyCycle_Position &&request)
Differential control with velocity average target and position difference target using dutycycle cont...
Definition: CoreTalonFX.hpp:9174
StatusSignal< signals::AppliedRotorPolarityValue > & GetAppliedRotorPolarity(bool refresh=true)
The applied rotor polarity as seen from the front of the motor.
StatusSignal< bool > & GetFault_BridgeBrownout(bool refresh=true)
Bridge was disabled most likely due to supply voltage dropping too low.
ctre::phoenix::StatusCode SetControl(controls::MotionMagicExpoTorqueCurrentFOC &request)
Requests Motion Magic® to target a final position using an exponential motion profile.
StatusSignal< double > & GetDifferentialClosedLoopProportionalOutput(bool refresh=true)
Differential closed loop proportional component.
StatusSignal< double > & GetClosedLoopIntegratedOutput(bool refresh=true)
Closed loop integrated component.
StatusSignal< units::angular_velocity::turns_per_second_t > & GetRotorVelocity(bool refresh=true)
Velocity of the motor rotor.
StatusSignal< int > & GetFaultField(bool refresh=true)
Integer representing all faults.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_TorqueCurrentFOC_Velocity &request)
Differential control with torque current average target and velocity difference target.
ctre::phoenix::StatusCode SetControl(controls::PositionTorqueCurrentFOC &&request)
Request PID to target position with torque current feedforward.
Definition: CoreTalonFX.hpp:6088
ctre::phoenix::StatusCode SetControl(controls::StaticBrake &&request)
Applies full neutral-brake by shorting motor leads together.
Definition: CoreTalonFX.hpp:7896
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.
Definition: CoreTalonFX.hpp:10512
StatusSignal< bool > & GetStickyFault_StatorCurrLimit(bool refresh=true)
Stator current limit occured.
StatusSignal< bool > & GetFault_FusedSensorOutOfSync(bool refresh=true)
The remote sensor used for fusion has fallen out of sync to the local sensor.
ctre::phoenix::StatusCode SetControl(controls::DifferentialVoltage &request)
Request a specified voltage with a differential position closed-loop.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_PositionTorqueCurrentFOC_Velocity &request)
Differential control with position average target and velocity difference target using torque current...
ctre::phoenix::StatusCode SetControl(controls::MotionMagicExpoDutyCycle &request)
Requests Motion Magic® to target a final position using an exponential motion profile.
ctre::phoenix::StatusCode SetControl(controls::MotionMagicTorqueCurrentFOC &&request)
Requests Motion Magic® to target a final position using a motion profile.
Definition: CoreTalonFX.hpp:6712
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_VelocityVoltage_Velocity &request)
Differential control with velocity average target and velocity difference target using voltage contro...
ctre::phoenix::StatusCode SetControl(controls::PositionTorqueCurrentFOC &request)
Request PID to target position with torque current feedforward.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_VelocityVoltage_Velocity &&request)
Differential control with velocity average target and velocity difference target using voltage contro...
Definition: CoreTalonFX.hpp:9520
ctre::phoenix::StatusCode ClearStickyFault_ReverseHardLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Reverse limit switch has been asserted.
Definition: CoreTalonFX.hpp:10335
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_VelocityTorqueCurrentFOC_Velocity &&request)
Differential control with velocity average target and velocity difference target using torque current...
Definition: CoreTalonFX.hpp:9760
ctre::phoenix::StatusCode SetControl(controls::NeutralOut &request)
Request neutral output of actuator.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_PositionVoltage_Position &&request)
Differential control with position average target and position difference target using voltage contro...
Definition: CoreTalonFX.hpp:9380
ctre::phoenix::StatusCode SetControl(controls::DifferentialVoltage &&request)
Request a specified voltage with a differential position closed-loop.
Definition: CoreTalonFX.hpp:6926
ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable(units::time::second_t timeoutSeconds)
Clear sticky fault: Device boot while detecting the enable signal.
Definition: CoreTalonFX.hpp:10163
ctre::phoenix::StatusCode SetControl(controls::DifferentialFollower &request)
Follow the differential motor output of another Talon.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_VelocityVoltage_Position &&request)
Differential control with velocity average target and position difference target using voltage contro...
Definition: CoreTalonFX.hpp:9408
ctre::phoenix::StatusCode SetControl(controls::StrictFollower &request)
Follow the motor output of another Talon while ignoring the master's invert setting.
ctre::phoenix::StatusCode SetControl(controls::MotionMagicVelocityVoltage &&request)
Requests Motion Magic® to target a final velocity using a motion profile.
Definition: CoreTalonFX.hpp:8354
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_PositionDutyCycle_Position &request)
Differential control with position average target and position difference target using dutycycle cont...
StatusSignal< bool > & GetStickyFault_MissingSoftLimitRemote(bool refresh=true)
The remote soft limit device is not present on CAN Bus.
ctre::phoenix::StatusCode SetControl(controls::PositionDutyCycle &request)
Request PID to target position with duty cycle feedforward.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_PositionVoltage_Velocity &request)
Differential control with position average target and velocity difference target using voltage contro...
StatusSignal< double > & GetClosedLoopDerivativeOutput(bool refresh=true)
Closed loop derivative component.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_VelocityTorqueCurrentFOC_Position &&request)
Differential control with velocity average target and position difference target using torque current...
Definition: CoreTalonFX.hpp:9638
ctre::phoenix::StatusCode SetControl(controls::VoltageOut &request)
Request a specified voltage.
StatusSignal< bool > & GetStickyFault_FusedSensorOutOfSync(bool refresh=true)
The remote sensor used for fusion has fallen out of sync to the local sensor.
ctre::phoenix::StatusCode SetControl(controls::MotionMagicVelocityTorqueCurrentFOC &&request)
Requests Motion Magic® to target a final velocity using a motion profile.
Definition: CoreTalonFX.hpp:8212
ctre::phoenix::StatusCode SetControl(controls::MotionMagicVoltage &request)
Requests Motion Magic® to target a final position using a motion profile.
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorPosOverflow()
Clear sticky fault: The remote sensor position has overflowed.
Definition: CoreTalonFX.hpp:10275
StatusSignal< bool > & GetStickyFault_UsingFusedCANcoderWhileUnlicensed(bool refresh=true)
Using Fused CANcoder feature while unlicensed.
StatusSignal< units::current::ampere_t > & GetSupplyCurrent(bool refresh=true)
Measured supply side current.
StatusSignal< bool > & GetStickyFault_ForwardHardLimit(bool refresh=true)
Forward limit switch has been asserted.
StatusSignal< units::angular_velocity::turns_per_second_t > & GetDifferentialDifferenceVelocity(bool refresh=true)
Difference component of the differential velocity of device.
ctre::phoenix::StatusCode ClearStickyFault_FusedSensorOutOfSync()
Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.
Definition: CoreTalonFX.hpp:10527
ctre::phoenix::StatusCode SetControl(controls::MotionMagicTorqueCurrentFOC &request)
Requests Motion Magic® to target a final position using a motion profile.
ctre::phoenix::StatusCode ClearStickyFault_MissingHardLimitRemote(units::time::second_t timeoutSeconds)
Clear sticky fault: The remote limit switch device is not present on CAN Bus.
Definition: CoreTalonFX.hpp:10455
StatusSignal< units::angle::turn_t > & GetDifferentialDifferencePosition(bool refresh=true)
Difference component of the differential position of device.
StatusSignal< bool > & GetFault_BootDuringEnable(bool refresh=true)
Device boot while detecting the enable signal.
ctre::phoenix::StatusCode SetControl(controls::DifferentialVelocityVoltage &request)
Request PID to target velocity with a differential position setpoint.
ctre::phoenix::StatusCode ClearStickyFault_ReverseSoftLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Reverse soft limit has been asserted.
Definition: CoreTalonFX.hpp:10383
StatusSignal< bool > & GetIsProLicensed(bool refresh=true)
Whether the device is Phoenix Pro licensed.
ctre::phoenix::StatusCode SetControl(controls::DifferentialVelocityVoltage &&request)
Request PID to target velocity with a differential position setpoint.
Definition: CoreTalonFX.hpp:7374
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_VelocityTorqueCurrentFOC_Velocity &request)
Differential control with velocity average target and velocity difference target using torque current...
ctre::phoenix::StatusCode SetControl(controls::MusicTone &&request)
Plays a single tone at the user specified frequency.
Definition: CoreTalonFX.hpp:7926
StatusSignal< bool > & GetStickyFault_Undervoltage(bool refresh=true)
Device supply voltage dropped to near brownout levels.
StatusSignal< bool > & GetStickyFault_ProcTemp(bool refresh=true)
Processor temperature exceeded limit.
StatusSignal< bool > & GetStickyFault_Hardware(bool refresh=true)
Hardware fault occurred.
StatusSignal< int > & GetVersionMajor(bool refresh=true)
App Major Version number.
StatusSignal< signals::MotorTypeValue > & GetMotorType(bool refresh=true)
The type of motor attached to the Talon FX.
ctre::phoenix::StatusCode ClearStickyFault_UnstableSupplyV()
Clear sticky fault: Supply Voltage is unstable.
Definition: CoreTalonFX.hpp:10323
ctre::phoenix::StatusCode ClearStickyFault_StatorCurrLimit()
Clear sticky fault: Stator current limit occured.
Definition: CoreTalonFX.hpp:10549
configs::TalonFXConfigurator & GetConfigurator()
Gets the configurator for this TalonFX.
Definition: CoreTalonFX.hpp:3676
ctre::phoenix::StatusCode SetPosition(units::angle::turn_t newValue)
Sets the mechanism position of the device in mechanism rotations.
Definition: CoreTalonFX.hpp:10031
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_VoltageOut_Velocity &request)
Differential control with voltage average target and velocity difference target.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_MotionMagicTorqueCurrentFOC_Velocity &request)
Differential control with Motion Magic® average target and velocity difference target using torque cu...
StatusSignal< bool > & GetFault_ReverseSoftLimit(bool refresh=true)
Reverse soft limit has been asserted.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_MotionMagicVoltage_Position &request)
Differential control with Motion Magic® average target and position difference target using voltage c...
StatusSignal< double > & GetClosedLoopOutput(bool refresh=true)
Closed loop total output.
ctre::phoenix::StatusCode SetControl(controls::VoltageOut &&request)
Request a specified voltage.
Definition: CoreTalonFX.hpp:5796
ctre::phoenix::StatusCode SetControl(controls::PositionVoltage &request)
Request PID to target position with voltage feedforward.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_PositionDutyCycle_Position &&request)
Differential control with position average target and position difference target using dutycycle cont...
Definition: CoreTalonFX.hpp:9144
ctre::phoenix::StatusCode SetControl(controls::MotionMagicVelocityTorqueCurrentFOC &request)
Requests Motion Magic® to target a final velocity using a motion profile.
StatusSignal< double > & GetClosedLoopReferenceSlope(bool refresh=true)
Derivative of the target that the closed loop is targeting.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_PositionTorqueCurrentFOC_Velocity &&request)
Differential control with position average target and velocity difference target using torque current...
Definition: CoreTalonFX.hpp:9730
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_TorqueCurrentFOC_Velocity &&request)
Differential control with torque current average target and velocity difference target.
Definition: CoreTalonFX.hpp:9700
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_VelocityVoltage_Position &request)
Differential control with velocity average target and position difference target using voltage contro...
ctre::phoenix::StatusCode SetControl(controls::VelocityVoltage &&request)
Request PID to target velocity with voltage feedforward.
Definition: CoreTalonFX.hpp:6300
StatusSignal< double > & GetClosedLoopProportionalOutput(bool refresh=true)
Closed loop proportional component.
ctre::phoenix::StatusCode SetControl(controls::StaticBrake &request)
Applies full neutral-brake by shorting motor leads together.
ctre::phoenix::StatusCode SetControl(controls::DifferentialDutyCycle &&request)
Request a specified motor duty cycle with a differential position closed-loop.
Definition: CoreTalonFX.hpp:6818
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_VoltageOut_Position &request)
Differential control with voltage average target and position difference target.
ctre::phoenix::StatusCode ClearStickyFault_UnstableSupplyV(units::time::second_t timeoutSeconds)
Clear sticky fault: Supply Voltage is unstable.
Definition: CoreTalonFX.hpp:10311
StatusSignal< bool > & GetStickyFault_MissingDifferentialFX(bool refresh=true)
The remote Talon FX used for differential control is not present on CAN Bus.
StatusSignal< bool > & GetStickyFault_UnstableSupplyV(bool refresh=true)
Supply Voltage is unstable.
StatusSignal< bool > & GetFault_StaticBrakeDisabled(bool refresh=true)
Static brake was momentarily disabled due to excessive braking current while disabled.
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.
Definition: CoreTalonFX.hpp:10233
StatusSignal< bool > & GetFault_Undervoltage(bool refresh=true)
Device supply voltage dropped to near brownout levels.
ctre::phoenix::StatusCode ClearStickyFault_ReverseHardLimit()
Clear sticky fault: Reverse limit switch has been asserted.
Definition: CoreTalonFX.hpp:10347
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_TorqueCurrentFOC_Position &request)
Differential control with torque current average target and position difference target.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_MotionMagicVoltage_Position &&request)
Differential control with Motion Magic® average target and position difference target using voltage c...
Definition: CoreTalonFX.hpp:9436
ctre::phoenix::StatusCode ClearStickyFault_MissingSoftLimitRemote()
Clear sticky fault: The remote soft limit device is not present on CAN Bus.
Definition: CoreTalonFX.hpp:10443
StatusSignal< units::dimensionless::scalar_t > & GetDutyCycle(bool refresh=true)
The applied motor duty cycle.
ctre::phoenix::StatusCode SetControl(controls::MotionMagicExpoVoltage &&request)
Requests Motion Magic® to target a final position using an exponential motion profile.
Definition: CoreTalonFX.hpp:8606
ctre::phoenix::StatusCode SetControl(controls::MotionMagicExpoVoltage &request)
Requests Motion Magic® to target a final position using an exponential motion profile.
ctre::phoenix::StatusCode ClearStickyFault_MissingHardLimitRemote()
Clear sticky fault: The remote limit switch device is not present on CAN Bus.
Definition: CoreTalonFX.hpp:10467
ctre::phoenix::StatusCode ClearStickyFault_ForwardHardLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Forward limit switch has been asserted.
Definition: CoreTalonFX.hpp:10359
StatusSignal< double > & GetClosedLoopError(bool refresh=true)
The difference between target reference and current measurement.
ctre::phoenix::StatusCode ClearStickyFault_MissingDifferentialFX()
Clear sticky fault: The remote Talon FX used for differential control is not present on CAN Bus.
Definition: CoreTalonFX.hpp:10245
StatusSignal< bool > & GetStickyFault_SupplyCurrLimit(bool refresh=true)
Supply current limit occured.
ctre::phoenix::StatusCode SetControl(controls::DynamicMotionMagicVoltage &request)
Requests Motion Magic® to target a final position using a motion profile.
StatusSignal< double > & GetClosedLoopReference(bool refresh=true)
Value that the closed loop is targeting.
StatusSignal< double > & GetDifferentialClosedLoopError(bool refresh=true)
The difference between target differential reference and current measurement.
ctre::phoenix::StatusCode SetControl(controls::DifferentialStrictFollower &&request)
Follow the differential motor output of another Talon while ignoring the master's invert setting.
Definition: CoreTalonFX.hpp:7802
ctre::phoenix::StatusCode ClearStickyFaults()
Clear the sticky faults in the device.
Definition: CoreTalonFX.hpp:10061
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_MotionMagicTorqueCurrentFOC_Velocity &&request)
Differential control with Motion Magic® average target and velocity difference target using torque cu...
Definition: CoreTalonFX.hpp:9792
ctre::phoenix::StatusCode ClearStickyFault_Undervoltage()
Clear sticky fault: Device supply voltage dropped to near brownout levels.
Definition: CoreTalonFX.hpp:10151
ctre::phoenix::StatusCode ClearStickyFault_SupplyCurrLimit(units::time::second_t timeoutSeconds)
Clear sticky fault: Supply current limit occured.
Definition: CoreTalonFX.hpp:10560
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_DutyCycleOut_Position &request)
Differential control with duty cycle average target and position difference target.
ctre::phoenix::StatusCode SetControl(controls::PositionDutyCycle &&request)
Request PID to target position with duty cycle feedforward.
Definition: CoreTalonFX.hpp:5900
ctre::phoenix::StatusCode SetControl(controls::NeutralOut &&request)
Request neutral output of actuator.
Definition: CoreTalonFX.hpp:7834
StatusSignal< bool > & GetFault_ForwardHardLimit(bool refresh=true)
Forward limit switch has been asserted.
ctre::phoenix::StatusCode ClearStickyFault_Hardware(units::time::second_t timeoutSeconds)
Clear sticky fault: Hardware fault occurred.
Definition: CoreTalonFX.hpp:10072
StatusSignal< bool > & GetStickyFault_UnlicensedFeatureInUse(bool refresh=true)
An unlicensed feature is in use, device may not behave as expected.
ctre::phoenix::StatusCode SetControl(controls::DifferentialVelocityDutyCycle &request)
Request PID to target velocity with a differential position setpoint.
ctre::phoenix::StatusCode SetControl(controls::DifferentialMotionMagicDutyCycle &&request)
Requests Motion Magic® to target a final position using a motion profile, and PID to a differential p...
Definition: CoreTalonFX.hpp:7498
StatusSignal< bool > & GetFault_DeviceTemp(bool refresh=true)
Device temperature exceeded limit.
StatusSignal< int > & GetVersionBuild(bool refresh=true)
App Build Version number.
StatusSignal< double > & GetDifferentialClosedLoopFeedForward(bool refresh=true)
Differential Feedforward passed by the user.
StatusSignal< double > & GetDifferentialClosedLoopIntegratedOutput(bool refresh=true)
Differential closed loop integrated component.
StatusSignal< bool > & GetFault_UnstableSupplyV(bool refresh=true)
Supply Voltage is unstable.
ctre::phoenix::StatusCode SetControl(controls::VelocityVoltage &request)
Request PID to target velocity with voltage feedforward.
StatusSignal< units::temperature::celsius_t > & GetProcessorTemp(bool refresh=true)
Temperature of the processor.
ctre::phoenix::StatusCode SetControl(controls::VelocityDutyCycle &request)
Request PID to target velocity with duty cycle feedforward.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_TorqueCurrentFOC_Position &&request)
Differential control with torque current average target and position difference target.
Definition: CoreTalonFX.hpp:9578
ctre::phoenix::StatusCode SetControl(controls::DynamicMotionMagicTorqueCurrentFOC &&request)
Requests Motion Magic® to target a final position using a motion profile.
Definition: CoreTalonFX.hpp:9084
ctre::phoenix::StatusCode ClearStickyFault_Hardware()
Clear sticky fault: Hardware fault occurred.
Definition: CoreTalonFX.hpp:10083
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_VelocityDutyCycle_Velocity &&request)
Differential control with velocity average target and velocity difference target using dutycycle cont...
Definition: CoreTalonFX.hpp:9294
StatusSignal< bool > & GetStickyFault_ReverseHardLimit(bool refresh=true)
Reverse limit switch has been asserted.
StatusSignal< bool > & GetFault_StatorCurrLimit(bool refresh=true)
Stator current limit occured.
ctre::phoenix::StatusCode SetPosition(units::angle::turn_t newValue, units::time::second_t timeoutSeconds)
Sets the mechanism position of the device in mechanism rotations.
Definition: CoreTalonFX.hpp:10018
ctre::phoenix::StatusCode SetControl(controls::DifferentialVelocityDutyCycle &&request)
Request PID to target velocity with a differential position setpoint.
Definition: CoreTalonFX.hpp:7262
StatusSignal< units::current::ampere_t > & GetTorqueCurrent(bool refresh=true)
Current corresponding to the torque output by the motor.
ctre::phoenix::StatusCode SetControl(controls::DynamicMotionMagicDutyCycle &&request)
Requests Motion Magic® to target a final position using a motion profile.
Definition: CoreTalonFX.hpp:8842
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_PositionDutyCycle_Velocity &&request)
Differential control with position average target and velocity difference target using dutycycle cont...
Definition: CoreTalonFX.hpp:9264
StatusSignal< units::angle::turn_t > & GetDifferentialAveragePosition(bool refresh=true)
Average component of the differential position of device.
StatusSignal< units::angular_velocity::turns_per_second_t > & GetDifferentialAverageVelocity(bool refresh=true)
Average component of the differential velocity of device.
StatusSignal< units::voltage::volt_t > & GetSupplyVoltage(bool refresh=true)
Measured supply voltage to the TalonFX.
StatusSignal< double > & GetDifferentialOutput(bool refresh=true)
The calculated motor output for differential followers.
StatusSignal< units::angular_velocity::turns_per_second_t > & GetVelocity(bool refresh=true)
Velocity of the device in mechanism rotations per second.
ctre::phoenix::StatusCode SetControl(controls::MotionMagicDutyCycle &request)
Requests Motion Magic® to target a final position using a motion profile.
ctre::phoenix::StatusCode SetControl(controls::VelocityTorqueCurrentFOC &request)
Request PID to target velocity with torque current feedforward.
StatusSignal< bool > & GetStickyFault_ForwardSoftLimit(bool refresh=true)
Forward soft limit has been asserted.
ctre::phoenix::StatusCode ClearStickyFault_MissingSoftLimitRemote(units::time::second_t timeoutSeconds)
Clear sticky fault: The remote soft limit device is not present on CAN Bus.
Definition: CoreTalonFX.hpp:10431
StatusSignal< units::current::ampere_t > & GetStatorCurrent(bool refresh=true)
Current corresponding to the stator windings.
ctre::phoenix::StatusCode ClearStickyFault_ForwardHardLimit()
Clear sticky fault: Forward limit switch has been asserted.
Definition: CoreTalonFX.hpp:10371
StatusSignal< signals::DeviceEnableValue > & GetDeviceEnable(bool refresh=true)
Indicates if device is actuator enabled.
ctre::phoenix::StatusCode SetControl(controls::MotionMagicDutyCycle &&request)
Requests Motion Magic® to target a final position using a motion profile.
Definition: CoreTalonFX.hpp:6502
ctre::phoenix::StatusCode SetControl(controls::TorqueCurrentFOC &&request)
Request a specified motor current (field oriented control).
Definition: CoreTalonFX.hpp:5704
StatusSignal< bool > & GetFault_ProcTemp(bool refresh=true)
Processor temperature exceeded limit.
ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable()
Clear sticky fault: Device boot while detecting the enable signal.
Definition: CoreTalonFX.hpp:10175
StatusSignal< signals::ControlModeValue > & GetControlMode(bool refresh=true)
The active control mode of the motor controller.
StatusSignal< units::temperature::celsius_t > & GetAncillaryDeviceTemp(bool refresh=true)
Temperature of device from second sensor.
StatusSignal< bool > & GetFault_MissingSoftLimitRemote(bool refresh=true)
The remote soft limit device is not present on CAN Bus.
ctre::phoenix::StatusCode SetControl(controls::TorqueCurrentFOC &request)
Request a specified motor current (field oriented control).
StatusSignal< units::voltage::volt_t > & GetMotorVoltage(bool refresh=true)
The applied (output) motor voltage.
ctre::phoenix::StatusCode SetControl(controls::PositionVoltage &&request)
Request PID to target position with voltage feedforward.
Definition: CoreTalonFX.hpp:6004
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_PositionDutyCycle_Velocity &request)
Differential control with position average target and velocity difference target using dutycycle cont...
StatusSignal< double > & GetDifferentialClosedLoopOutput(bool refresh=true)
Differential closed loop total output.
ctre::phoenix::StatusCode ClearStickyFault_Undervoltage(units::time::second_t timeoutSeconds)
Clear sticky fault: Device supply voltage dropped to near brownout levels.
Definition: CoreTalonFX.hpp:10139
StatusSignal< bool > & GetFault_OverSupplyV(bool refresh=true)
Supply Voltage has exceeded the maximum voltage rating of device.
StatusSignal< units::angular_acceleration::turns_per_second_squared_t > & GetAcceleration(bool refresh=true)
Acceleration of the device in mechanism rotations per second².
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_VelocityTorqueCurrentFOC_Position &request)
Differential control with velocity average target and position difference target using torque current...
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_MotionMagicTorqueCurrentFOC_Position &request)
Differential control with Motion Magic® average target and position difference target using torque cu...
StatusSignal< bool > & GetFault_RemoteSensorReset(bool refresh=true)
The remote sensor has reset.
sim::TalonFXSimState & GetSimState()
Get the simulation state for this device.
Definition: CoreTalonFX.hpp:3706
StatusSignal< double > & GetClosedLoopFeedForward(bool refresh=true)
Feedforward passed by the user.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_VoltageOut_Velocity &&request)
Differential control with voltage average target and velocity difference target.
Definition: CoreTalonFX.hpp:9464
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_PositionVoltage_Position &request)
Differential control with position average target and position difference target using voltage contro...
ctre::phoenix::StatusCode ClearStickyFault_BridgeBrownout()
Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
Definition: CoreTalonFX.hpp:10199
ctre::phoenix::StatusCode SetControl(controls::ControlRequest &request)
Control motor with generic control request object.
Definition: CoreTalonFX.hpp:9806
StatusSignal< int > & GetVersionBugfix(bool refresh=true)
App Bugfix Version number.
ctre::phoenix::StatusCode SetControl(controls::DifferentialPositionDutyCycle &request)
Request PID to target position with a differential position setpoint.
ctre::phoenix::StatusCode SetControl(controls::compound::Diff_DutyCycleOut_Velocity &request)
Differential control with duty cycle average target and velocity difference target.
ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorDataInvalid()
Clear sticky fault: The remote sensor's data is no longer trusted.
Definition: CoreTalonFX.hpp:10497
StatusSignal< bool > & GetFault_MissingHardLimitRemote(bool refresh=true)
The remote limit switch device is not present on CAN Bus.
ctre::phoenix::StatusCode SetControl(controls::DifferentialMotionMagicVoltage &&request)
Requests Motion Magic® to target a final position using a motion profile, and PID to a differential p...
Definition: CoreTalonFX.hpp:7622
ctre::phoenix::StatusCode SetControl(controls::DutyCycleOut &request)
Request a specified motor duty cycle.
ctre::phoenix::StatusCode SetControl(controls::DynamicMotionMagicDutyCycle &request)
Requests Motion Magic® to target a final position using a motion profile.
StatusSignal< bool > & GetStickyFault_RemoteSensorDataInvalid(bool refresh=true)
The remote sensor's data is no longer trusted.
Class to control the state of a simulated hardware::TalonFX.
Definition: TalonFXSimState.hpp:33
Status codes reported by APIs, including OK, warnings, and errors.
Definition: StatusCodes.h:27
static constexpr int OK
No Error.
Definition: StatusCodes.h:34
static constexpr int NotSupported
This is not supported.
Definition: StatusCodes.h:648
Represents the state of one swerve module.
Definition: StatusCodes.h:18