CTRE Phoenix 6 C++ 25.2.1
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ctre::phoenix6::hardware::traits::CommonTalonWithFOC Class Reference

Contains everything common between Talon motor controllers that support FOC (requires Phoenix Pro). More...

#include <ctre/phoenix6/hardware/traits/CommonTalonWithFOC.hpp>

Inheritance diagram for ctre::phoenix6::hardware::traits::CommonTalonWithFOC:
ctre::phoenix6::hardware::traits::CommonTalon ctre::phoenix6::hardware::traits::SupportsFOC ctre::phoenix6::hardware::traits::SupportsMusic ctre::phoenix6::hardware::traits::HasTalonControls ctre::phoenix6::hardware::traits::HasTalonSignals ctre::phoenix6::hardware::core::CoreTalonFX ctre::phoenix6::hardware::TalonFX

Public Member Functions

virtual ~CommonTalonWithFOC ()=default
 
virtual ctre::phoenix::StatusCode SetControl (const controls::TorqueCurrentFOC &request)=0
 Request a specified motor current (field oriented control).
 
virtual ctre::phoenix::StatusCode SetControl (const controls::PositionTorqueCurrentFOC &request)=0
 Request PID to target position with torque current feedforward.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::VelocityTorqueCurrentFOC &request)=0
 Request PID to target velocity with torque current feedforward.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::MotionMagicTorqueCurrentFOC &request)=0
 Requests Motion Magic® to target a final position using a motion profile.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::MotionMagicVelocityTorqueCurrentFOC &request)=0
 Requests Motion Magic® to target a final velocity using a motion profile.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::MotionMagicExpoTorqueCurrentFOC &request)=0
 Requests Motion Magic® to target a final position using an exponential motion profile.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::DynamicMotionMagicTorqueCurrentFOC &request)=0
 Requests Motion Magic® to target a final position using a motion profile.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_TorqueCurrentFOC_Position &request)=0
 Differential control with torque current average target and position difference target.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_PositionTorqueCurrentFOC_Position &request)=0
 Differential control with position average target and position difference target using torque current control.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_VelocityTorqueCurrentFOC_Position &request)=0
 Differential control with velocity average target and position difference target using torque current control.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_MotionMagicTorqueCurrentFOC_Position &request)=0
 Differential control with Motion Magic® average target and position difference target using torque current control.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_TorqueCurrentFOC_Velocity &request)=0
 Differential control with torque current average target and velocity difference target.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_PositionTorqueCurrentFOC_Velocity &request)=0
 Differential control with position average target and velocity difference target using torque current control.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_VelocityTorqueCurrentFOC_Velocity &request)=0
 Differential control with velocity average target and velocity difference target using torque current control.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_MotionMagicTorqueCurrentFOC_Velocity &request)=0
 Differential control with Motion Magic® average target and velocity difference target using torque current control.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::ControlRequest &request)=0
 Control device with generic control request object.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::MusicTone &request)=0
 Plays a single tone at the user specified frequency.
 
- Public Member Functions inherited from ctre::phoenix6::hardware::traits::CommonTalon
virtual ~CommonTalon ()=default
 
virtual ctre::phoenix::StatusCode SetControl (const controls::DutyCycleOut &request)=0
 Request a specified motor duty cycle.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::VoltageOut &request)=0
 Request a specified voltage.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::PositionDutyCycle &request)=0
 Request PID to target position with duty cycle feedforward.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::PositionVoltage &request)=0
 Request PID to target position with voltage feedforward.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::VelocityDutyCycle &request)=0
 Request PID to target velocity with duty cycle feedforward.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::VelocityVoltage &request)=0
 Request PID to target velocity with voltage feedforward.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::MotionMagicDutyCycle &request)=0
 Requests Motion Magic® to target a final position using a motion profile.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::MotionMagicVoltage &request)=0
 Requests Motion Magic® to target a final position using a motion profile.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::MotionMagicVelocityDutyCycle &request)=0
 Requests Motion Magic® to target a final velocity using a motion profile.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::MotionMagicVelocityVoltage &request)=0
 Requests Motion Magic® to target a final velocity using a motion profile.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::MotionMagicExpoDutyCycle &request)=0
 Requests Motion Magic® to target a final position using an exponential motion profile.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::MotionMagicExpoVoltage &request)=0
 Requests Motion Magic® to target a final position using an exponential motion profile.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::DynamicMotionMagicDutyCycle &request)=0
 Requests Motion Magic® to target a final position using a motion profile.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::DynamicMotionMagicVoltage &request)=0
 Requests Motion Magic® to target a final position using a motion profile.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::DifferentialDutyCycle &request)=0
 Request a specified motor duty cycle with a differential position closed-loop.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::DifferentialVoltage &request)=0
 Request a specified voltage with a differential position closed-loop.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::DifferentialPositionDutyCycle &request)=0
 Request PID to target position with a differential position setpoint.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::DifferentialPositionVoltage &request)=0
 Request PID to target position with a differential position setpoint.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::DifferentialVelocityDutyCycle &request)=0
 Request PID to target velocity with a differential position setpoint.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::DifferentialVelocityVoltage &request)=0
 Request PID to target velocity with a differential position setpoint.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::DifferentialMotionMagicDutyCycle &request)=0
 Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::DifferentialMotionMagicVoltage &request)=0
 Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::Follower &request)=0
 Follow the motor output of another Talon.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::StrictFollower &request)=0
 Follow the motor output of another Talon while ignoring the master's invert setting.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::DifferentialFollower &request)=0
 Follow the differential motor output of another Talon.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::DifferentialStrictFollower &request)=0
 Follow the differential motor output of another Talon while ignoring the master's invert setting.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::StaticBrake &request)=0
 Applies full neutral-brake by shorting motor leads together.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::NeutralOut &request)=0
 Request neutral output of actuator.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::CoastOut &request)=0
 Request coast neutral output of actuator.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_DutyCycleOut_Position &request)=0
 Differential control with duty cycle average target and position difference target.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_PositionDutyCycle_Position &request)=0
 Differential control with position average target and position difference target using dutycycle control.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_VelocityDutyCycle_Position &request)=0
 Differential control with velocity average target and position difference target using dutycycle control.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_MotionMagicDutyCycle_Position &request)=0
 Differential control with Motion Magic® average target and position difference target using dutycycle control.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_DutyCycleOut_Velocity &request)=0
 Differential control with duty cycle average target and velocity difference target.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_PositionDutyCycle_Velocity &request)=0
 Differential control with position average target and velocity difference target using dutycycle control.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_VelocityDutyCycle_Velocity &request)=0
 Differential control with velocity average target and velocity difference target using dutycycle control.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_MotionMagicDutyCycle_Velocity &request)=0
 Differential control with Motion Magic® average target and velocity difference target using dutycycle control.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_VoltageOut_Position &request)=0
 Differential control with voltage average target and position difference target.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_PositionVoltage_Position &request)=0
 Differential control with position average target and position difference target using voltage control.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_VelocityVoltage_Position &request)=0
 Differential control with velocity average target and position difference target using voltage control.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_MotionMagicVoltage_Position &request)=0
 Differential control with Motion Magic® average target and position difference target using voltage control.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_VoltageOut_Velocity &request)=0
 Differential control with voltage average target and velocity difference target.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_PositionVoltage_Velocity &request)=0
 Differential control with position average target and velocity difference target using voltage control.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_VelocityVoltage_Velocity &request)=0
 Differential control with velocity average target and velocity difference target using voltage control.
 
virtual ctre::phoenix::StatusCode SetControl (const controls::compound::Diff_MotionMagicVoltage_Velocity &request)=0
 Differential control with Motion Magic® average target and velocity difference target using voltage control.
 
- Public Member Functions inherited from ctre::phoenix6::hardware::traits::HasTalonControls
virtual ~HasTalonControls ()=default
 
- Public Member Functions inherited from ctre::phoenix6::hardware::traits::HasTalonSignals
virtual ~HasTalonSignals ()=default
 
virtual StatusSignal< int > & GetVersionMajor (bool refresh=true)=0
 App Major Version number.
 
virtual StatusSignal< int > & GetVersionMinor (bool refresh=true)=0
 App Minor Version number.
 
virtual StatusSignal< int > & GetVersionBugfix (bool refresh=true)=0
 App Bugfix Version number.
 
virtual StatusSignal< int > & GetVersionBuild (bool refresh=true)=0
 App Build Version number.
 
virtual StatusSignal< int > & GetVersion (bool refresh=true)=0
 Full Version of firmware in device.
 
virtual StatusSignal< int > & GetFaultField (bool refresh=true)=0
 Integer representing all fault flags reported by the device.
 
virtual StatusSignal< int > & GetStickyFaultField (bool refresh=true)=0
 Integer representing all (persistent) sticky fault flags reported by the device.
 
virtual StatusSignal< units::voltage::volt_t > & GetMotorVoltage (bool refresh=true)=0
 The applied (output) motor voltage.
 
virtual StatusSignal< signals::ForwardLimitValue > & GetForwardLimit (bool refresh=true)=0
 Forward Limit Pin.
 
virtual StatusSignal< signals::ReverseLimitValue > & GetReverseLimit (bool refresh=true)=0
 Reverse Limit Pin.
 
virtual StatusSignal< signals::AppliedRotorPolarityValue > & GetAppliedRotorPolarity (bool refresh=true)=0
 The applied rotor polarity as seen from the front of the motor.
 
virtual StatusSignal< units::dimensionless::scalar_t > & GetDutyCycle (bool refresh=true)=0
 The applied motor duty cycle.
 
virtual StatusSignal< units::current::ampere_t > & GetTorqueCurrent (bool refresh=true)=0
 Current corresponding to the torque output by the motor.
 
virtual StatusSignal< units::current::ampere_t > & GetStatorCurrent (bool refresh=true)=0
 Current corresponding to the stator windings.
 
virtual StatusSignal< units::current::ampere_t > & GetSupplyCurrent (bool refresh=true)=0
 Measured supply side current.
 
virtual StatusSignal< units::voltage::volt_t > & GetSupplyVoltage (bool refresh=true)=0
 Measured supply voltage to the device.
 
virtual StatusSignal< units::temperature::celsius_t > & GetDeviceTemp (bool refresh=true)=0
 Temperature of device.
 
virtual StatusSignal< units::temperature::celsius_t > & GetProcessorTemp (bool refresh=true)=0
 Temperature of the processor.
 
virtual StatusSignal< units::angular_velocity::turns_per_second_t > & GetRotorVelocity (bool refresh=true)=0
 Velocity of the motor rotor.
 
virtual StatusSignal< units::angle::turn_t > & GetRotorPosition (bool refresh=true)=0
 Position of the motor rotor.
 
virtual StatusSignal< units::angular_velocity::turns_per_second_t > & GetVelocity (bool refresh=true)=0
 Velocity of the device in mechanism rotations per second.
 
virtual StatusSignal< units::angle::turn_t > & GetPosition (bool refresh=true)=0
 Position of the device in mechanism rotations.
 
virtual StatusSignal< units::angular_acceleration::turns_per_second_squared_t > & GetAcceleration (bool refresh=true)=0
 Acceleration of the device in mechanism rotations per second².
 
virtual StatusSignal< signals::ControlModeValue > & GetControlMode (bool refresh=true)=0
 The active control mode of the motor controller.
 
virtual StatusSignal< signals::MotionMagicIsRunningValue > & GetMotionMagicIsRunning (bool refresh=true)=0
 Check if Motion Magic® is running.
 
virtual StatusSignal< signals::DeviceEnableValue > & GetDeviceEnable (bool refresh=true)=0
 Indicates if device is actuator enabled.
 
virtual StatusSignal< int > & GetClosedLoopSlot (bool refresh=true)=0
 The slot that the closed-loop PID is using.
 
virtual StatusSignal< signals::MotorOutputStatusValue > & GetMotorOutputStatus (bool refresh=true)=0
 Assess the status of the motor output with respect to load and supply.
 
virtual StatusSignal< signals::DifferentialControlModeValue > & GetDifferentialControlMode (bool refresh=true)=0
 The active control mode of the differential controller.
 
virtual StatusSignal< units::angular_velocity::turns_per_second_t > & GetDifferentialAverageVelocity (bool refresh=true)=0
 Average component of the differential velocity of device.
 
virtual StatusSignal< units::angle::turn_t > & GetDifferentialAveragePosition (bool refresh=true)=0
 Average component of the differential position of device.
 
virtual StatusSignal< units::angular_velocity::turns_per_second_t > & GetDifferentialDifferenceVelocity (bool refresh=true)=0
 Difference component of the differential velocity of device.
 
virtual StatusSignal< units::angle::turn_t > & GetDifferentialDifferencePosition (bool refresh=true)=0
 Difference component of the differential position of device.
 
virtual StatusSignal< int > & GetDifferentialClosedLoopSlot (bool refresh=true)=0
 The slot that the closed-loop differential PID is using.
 
virtual StatusSignal< ctre::unit::newton_meters_per_ampere_t > & GetMotorKT (bool refresh=true)=0
 The torque constant (K_T) of the motor.
 
virtual StatusSignal< ctre::unit::rpm_per_volt_t > & GetMotorKV (bool refresh=true)=0
 The velocity constant (K_V) of the motor.
 
virtual StatusSignal< units::current::ampere_t > & GetMotorStallCurrent (bool refresh=true)=0
 The stall current of the motor at 12 V output.
 
virtual StatusSignal< signals::BridgeOutputValue > & GetBridgeOutput (bool refresh=true)=0
 The applied output of the bridge.
 
virtual StatusSignal< bool > & GetIsProLicensed (bool refresh=true)=0
 Whether the device is Phoenix Pro licensed.
 
virtual StatusSignal< units::temperature::celsius_t > & GetAncillaryDeviceTemp (bool refresh=true)=0
 Temperature of device from second sensor.
 
virtual StatusSignal< signals::ConnectedMotorValue > & GetConnectedMotor (bool refresh=true)=0
 The type of motor attached to the Talon.
 
virtual StatusSignal< bool > & GetFault_Hardware (bool refresh=true)=0
 Hardware fault occurred.
 
virtual StatusSignal< bool > & GetStickyFault_Hardware (bool refresh=true)=0
 Hardware fault occurred.
 
virtual StatusSignal< bool > & GetFault_ProcTemp (bool refresh=true)=0
 Processor temperature exceeded limit.
 
virtual StatusSignal< bool > & GetStickyFault_ProcTemp (bool refresh=true)=0
 Processor temperature exceeded limit.
 
virtual StatusSignal< bool > & GetFault_DeviceTemp (bool refresh=true)=0
 Device temperature exceeded limit.
 
virtual StatusSignal< bool > & GetStickyFault_DeviceTemp (bool refresh=true)=0
 Device temperature exceeded limit.
 
virtual StatusSignal< bool > & GetFault_Undervoltage (bool refresh=true)=0
 Device supply voltage dropped to near brownout levels.
 
virtual StatusSignal< bool > & GetStickyFault_Undervoltage (bool refresh=true)=0
 Device supply voltage dropped to near brownout levels.
 
virtual StatusSignal< bool > & GetFault_BootDuringEnable (bool refresh=true)=0
 Device boot while detecting the enable signal.
 
virtual StatusSignal< bool > & GetStickyFault_BootDuringEnable (bool refresh=true)=0
 Device boot while detecting the enable signal.
 
virtual StatusSignal< bool > & GetFault_UnlicensedFeatureInUse (bool refresh=true)=0
 An unlicensed feature is in use, device may not behave as expected.
 
virtual StatusSignal< bool > & GetStickyFault_UnlicensedFeatureInUse (bool refresh=true)=0
 An unlicensed feature is in use, device may not behave as expected.
 
virtual StatusSignal< bool > & GetFault_BridgeBrownout (bool refresh=true)=0
 Bridge was disabled most likely due to supply voltage dropping too low.
 
virtual StatusSignal< bool > & GetStickyFault_BridgeBrownout (bool refresh=true)=0
 Bridge was disabled most likely due to supply voltage dropping too low.
 
virtual StatusSignal< bool > & GetFault_RemoteSensorReset (bool refresh=true)=0
 The remote sensor has reset.
 
virtual StatusSignal< bool > & GetStickyFault_RemoteSensorReset (bool refresh=true)=0
 The remote sensor has reset.
 
virtual StatusSignal< bool > & GetFault_MissingDifferentialFX (bool refresh=true)=0
 The remote Talon used for differential control is not present on CAN Bus.
 
virtual StatusSignal< bool > & GetStickyFault_MissingDifferentialFX (bool refresh=true)=0
 The remote Talon used for differential control is not present on CAN Bus.
 
virtual StatusSignal< bool > & GetFault_RemoteSensorPosOverflow (bool refresh=true)=0
 The remote sensor position has overflowed.
 
virtual StatusSignal< bool > & GetStickyFault_RemoteSensorPosOverflow (bool refresh=true)=0
 The remote sensor position has overflowed.
 
virtual StatusSignal< bool > & GetFault_OverSupplyV (bool refresh=true)=0
 Supply Voltage has exceeded the maximum voltage rating of device.
 
virtual StatusSignal< bool > & GetStickyFault_OverSupplyV (bool refresh=true)=0
 Supply Voltage has exceeded the maximum voltage rating of device.
 
virtual StatusSignal< bool > & GetFault_UnstableSupplyV (bool refresh=true)=0
 Supply Voltage is unstable.
 
virtual StatusSignal< bool > & GetStickyFault_UnstableSupplyV (bool refresh=true)=0
 Supply Voltage is unstable.
 
virtual StatusSignal< bool > & GetFault_ReverseHardLimit (bool refresh=true)=0
 Reverse limit switch has been asserted.
 
virtual StatusSignal< bool > & GetStickyFault_ReverseHardLimit (bool refresh=true)=0
 Reverse limit switch has been asserted.
 
virtual StatusSignal< bool > & GetFault_ForwardHardLimit (bool refresh=true)=0
 Forward limit switch has been asserted.
 
virtual StatusSignal< bool > & GetStickyFault_ForwardHardLimit (bool refresh=true)=0
 Forward limit switch has been asserted.
 
virtual StatusSignal< bool > & GetFault_ReverseSoftLimit (bool refresh=true)=0
 Reverse soft limit has been asserted.
 
virtual StatusSignal< bool > & GetStickyFault_ReverseSoftLimit (bool refresh=true)=0
 Reverse soft limit has been asserted.
 
virtual StatusSignal< bool > & GetFault_ForwardSoftLimit (bool refresh=true)=0
 Forward soft limit has been asserted.
 
virtual StatusSignal< bool > & GetStickyFault_ForwardSoftLimit (bool refresh=true)=0
 Forward soft limit has been asserted.
 
virtual StatusSignal< bool > & GetFault_MissingSoftLimitRemote (bool refresh=true)=0
 The remote soft limit device is not present on CAN Bus.
 
virtual StatusSignal< bool > & GetStickyFault_MissingSoftLimitRemote (bool refresh=true)=0
 The remote soft limit device is not present on CAN Bus.
 
virtual StatusSignal< bool > & GetFault_MissingHardLimitRemote (bool refresh=true)=0
 The remote limit switch device is not present on CAN Bus.
 
virtual StatusSignal< bool > & GetStickyFault_MissingHardLimitRemote (bool refresh=true)=0
 The remote limit switch device is not present on CAN Bus.
 
virtual StatusSignal< bool > & GetFault_RemoteSensorDataInvalid (bool refresh=true)=0
 The remote sensor's data is no longer trusted.
 
virtual StatusSignal< bool > & GetStickyFault_RemoteSensorDataInvalid (bool refresh=true)=0
 The remote sensor's data is no longer trusted.
 
virtual StatusSignal< bool > & GetFault_FusedSensorOutOfSync (bool refresh=true)=0
 The remote sensor used for fusion has fallen out of sync to the local sensor.
 
virtual StatusSignal< bool > & GetStickyFault_FusedSensorOutOfSync (bool refresh=true)=0
 The remote sensor used for fusion has fallen out of sync to the local sensor.
 
virtual StatusSignal< bool > & GetFault_StatorCurrLimit (bool refresh=true)=0
 Stator current limit occured.
 
virtual StatusSignal< bool > & GetStickyFault_StatorCurrLimit (bool refresh=true)=0
 Stator current limit occured.
 
virtual StatusSignal< bool > & GetFault_SupplyCurrLimit (bool refresh=true)=0
 Supply current limit occured.
 
virtual StatusSignal< bool > & GetStickyFault_SupplyCurrLimit (bool refresh=true)=0
 Supply current limit occured.
 
virtual StatusSignal< bool > & GetFault_UsingFusedCANcoderWhileUnlicensed (bool refresh=true)=0
 Using Fused CANcoder feature while unlicensed.
 
virtual StatusSignal< bool > & GetStickyFault_UsingFusedCANcoderWhileUnlicensed (bool refresh=true)=0
 Using Fused CANcoder feature while unlicensed.
 
virtual StatusSignal< bool > & GetFault_StaticBrakeDisabled (bool refresh=true)=0
 Static brake was momentarily disabled due to excessive braking current while disabled.
 
virtual StatusSignal< bool > & GetStickyFault_StaticBrakeDisabled (bool refresh=true)=0
 Static brake was momentarily disabled due to excessive braking current while disabled.
 
virtual StatusSignal< double > & GetClosedLoopProportionalOutput (bool refresh=true)=0
 Closed loop proportional component.
 
virtual StatusSignal< double > & GetClosedLoopIntegratedOutput (bool refresh=true)=0
 Closed loop integrated component.
 
virtual StatusSignal< double > & GetClosedLoopFeedForward (bool refresh=true)=0
 Feedforward passed by the user.
 
virtual StatusSignal< double > & GetClosedLoopDerivativeOutput (bool refresh=true)=0
 Closed loop derivative component.
 
virtual StatusSignal< double > & GetClosedLoopOutput (bool refresh=true)=0
 Closed loop total output.
 
virtual StatusSignal< double > & GetClosedLoopReference (bool refresh=true)=0
 Value that the closed loop is targeting.
 
virtual StatusSignal< double > & GetClosedLoopReferenceSlope (bool refresh=true)=0
 Derivative of the target that the closed loop is targeting.
 
virtual StatusSignal< double > & GetClosedLoopError (bool refresh=true)=0
 The difference between target reference and current measurement.
 
virtual StatusSignal< double > & GetDifferentialOutput (bool refresh=true)=0
 The calculated motor output for differential followers.
 
virtual StatusSignal< double > & GetDifferentialClosedLoopProportionalOutput (bool refresh=true)=0
 Differential closed loop proportional component.
 
virtual StatusSignal< double > & GetDifferentialClosedLoopIntegratedOutput (bool refresh=true)=0
 Differential closed loop integrated component.
 
virtual StatusSignal< double > & GetDifferentialClosedLoopFeedForward (bool refresh=true)=0
 Differential Feedforward passed by the user.
 
virtual StatusSignal< double > & GetDifferentialClosedLoopDerivativeOutput (bool refresh=true)=0
 Differential closed loop derivative component.
 
virtual StatusSignal< double > & GetDifferentialClosedLoopOutput (bool refresh=true)=0
 Differential closed loop total output.
 
virtual StatusSignal< double > & GetDifferentialClosedLoopReference (bool refresh=true)=0
 Value that the differential closed loop is targeting.
 
virtual StatusSignal< double > & GetDifferentialClosedLoopReferenceSlope (bool refresh=true)=0
 Derivative of the target that the differential closed loop is targeting.
 
virtual StatusSignal< double > & GetDifferentialClosedLoopError (bool refresh=true)=0
 The difference between target differential reference and current measurement.
 
virtual ctre::phoenix::StatusCode SetPosition (units::angle::turn_t newValue, units::time::second_t timeoutSeconds)=0
 Sets the mechanism position of the device in mechanism rotations.
 
virtual ctre::phoenix::StatusCode SetPosition (units::angle::turn_t newValue)=0
 Sets the mechanism position of the device in mechanism rotations.
 
virtual ctre::phoenix::StatusCode ClearStickyFaults (units::time::second_t timeoutSeconds)=0
 Clear the sticky faults in the device.
 
virtual ctre::phoenix::StatusCode ClearStickyFaults ()=0
 Clear the sticky faults in the device.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_Hardware (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Hardware fault occurred.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_Hardware ()=0
 Clear sticky fault: Hardware fault occurred.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_ProcTemp (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Processor temperature exceeded limit.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_ProcTemp ()=0
 Clear sticky fault: Processor temperature exceeded limit.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_DeviceTemp (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Device temperature exceeded limit.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_DeviceTemp ()=0
 Clear sticky fault: Device temperature exceeded limit.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_Undervoltage (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Device supply voltage dropped to near brownout levels.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_Undervoltage ()=0
 Clear sticky fault: Device supply voltage dropped to near brownout levels.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Device boot while detecting the enable signal.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable ()=0
 Clear sticky fault: Device boot while detecting the enable signal.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_UnlicensedFeatureInUse (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_UnlicensedFeatureInUse ()=0
 Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_BridgeBrownout (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_BridgeBrownout ()=0
 Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorReset (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: The remote sensor has reset.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorReset ()=0
 Clear sticky fault: The remote sensor has reset.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_MissingDifferentialFX (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_MissingDifferentialFX ()=0
 Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorPosOverflow (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: The remote sensor position has overflowed.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorPosOverflow ()=0
 Clear sticky fault: The remote sensor position has overflowed.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_OverSupplyV (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_OverSupplyV ()=0
 Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_UnstableSupplyV (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Supply Voltage is unstable.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_UnstableSupplyV ()=0
 Clear sticky fault: Supply Voltage is unstable.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_ReverseHardLimit (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Reverse limit switch has been asserted.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_ReverseHardLimit ()=0
 Clear sticky fault: Reverse limit switch has been asserted.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_ForwardHardLimit (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Forward limit switch has been asserted.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_ForwardHardLimit ()=0
 Clear sticky fault: Forward limit switch has been asserted.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_ReverseSoftLimit (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Reverse soft limit has been asserted.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_ReverseSoftLimit ()=0
 Clear sticky fault: Reverse soft limit has been asserted.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_ForwardSoftLimit (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Forward soft limit has been asserted.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_ForwardSoftLimit ()=0
 Clear sticky fault: Forward soft limit has been asserted.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_MissingSoftLimitRemote (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: The remote soft limit device is not present on CAN Bus.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_MissingSoftLimitRemote ()=0
 Clear sticky fault: The remote soft limit device is not present on CAN Bus.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_MissingHardLimitRemote (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: The remote limit switch device is not present on CAN Bus.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_MissingHardLimitRemote ()=0
 Clear sticky fault: The remote limit switch device is not present on CAN Bus.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorDataInvalid (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: The remote sensor's data is no longer trusted.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_RemoteSensorDataInvalid ()=0
 Clear sticky fault: The remote sensor's data is no longer trusted.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_FusedSensorOutOfSync (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_FusedSensorOutOfSync ()=0
 Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_StatorCurrLimit (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Stator current limit occured.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_StatorCurrLimit ()=0
 Clear sticky fault: Stator current limit occured.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_SupplyCurrLimit (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Supply current limit occured.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_SupplyCurrLimit ()=0
 Clear sticky fault: Supply current limit occured.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_UsingFusedCANcoderWhileUnlicensed (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Using Fused CANcoder feature while unlicensed.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_UsingFusedCANcoderWhileUnlicensed ()=0
 Clear sticky fault: Using Fused CANcoder feature while unlicensed.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_StaticBrakeDisabled (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disabled.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_StaticBrakeDisabled ()=0
 Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disabled.
 
- Public Member Functions inherited from ctre::phoenix6::hardware::traits::SupportsFOC
virtual ~SupportsFOC ()=default
 
- Public Member Functions inherited from ctre::phoenix6::hardware::traits::SupportsMusic
virtual ~SupportsMusic ()=default
 

Detailed Description

Contains everything common between Talon motor controllers that support FOC (requires Phoenix Pro).

Constructor & Destructor Documentation

◆ ~CommonTalonWithFOC()

virtual ctre::phoenix6::hardware::traits::CommonTalonWithFOC::~CommonTalonWithFOC ( )
virtualdefault

Member Function Documentation

◆ SetControl() [1/17]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::SupportsFOC::SetControl ( const controls::compound::Diff_MotionMagicTorqueCurrentFOC_Position & request)
virtual

Differential control with Motion Magic® average target and position difference target using torque current control.

  • Diff_MotionMagicTorqueCurrentFOC_Position Parameters:
    • AverageRequest: Average MotionMagicTorqueCurrentFOC request of the mechanism.
    • DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

Reimplemented in ctre::phoenix6::hardware::core::CoreTalonFX.

◆ SetControl() [2/17]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::SupportsFOC::SetControl ( const controls::compound::Diff_MotionMagicTorqueCurrentFOC_Velocity & request)
virtual

Differential control with Motion Magic® average target and velocity difference target using torque current control.

  • Diff_MotionMagicTorqueCurrentFOC_Velocity Parameters:
    • AverageRequest: Average MotionMagicTorqueCurrentFOC request of the mechanism.
    • DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

Reimplemented in ctre::phoenix6::hardware::core::CoreTalonFX.

◆ SetControl() [3/17]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::SupportsFOC::SetControl ( const controls::compound::Diff_PositionTorqueCurrentFOC_Position & request)
virtual

Differential control with position average target and position difference target using torque current control.

  • Diff_PositionTorqueCurrentFOC_Position Parameters:
    • AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism.
    • DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

Reimplemented in ctre::phoenix6::hardware::core::CoreTalonFX.

◆ SetControl() [4/17]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::SupportsFOC::SetControl ( const controls::compound::Diff_PositionTorqueCurrentFOC_Velocity & request)
virtual

Differential control with position average target and velocity difference target using torque current control.

  • Diff_PositionTorqueCurrentFOC_Velocity Parameters:
    • AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism.
    • DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

Reimplemented in ctre::phoenix6::hardware::core::CoreTalonFX.

◆ SetControl() [5/17]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::SupportsFOC::SetControl ( const controls::compound::Diff_TorqueCurrentFOC_Position & request)
virtual

Differential control with torque current average target and position difference target.

  • Diff_TorqueCurrentFOC_Position Parameters:
    • AverageRequest: Average TorqueCurrentFOC request of the mechanism.
    • DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

Reimplemented in ctre::phoenix6::hardware::core::CoreTalonFX.

◆ SetControl() [6/17]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::SupportsFOC::SetControl ( const controls::compound::Diff_TorqueCurrentFOC_Velocity & request)
virtual

Differential control with torque current average target and velocity difference target.

  • Diff_TorqueCurrentFOC_Velocity Parameters:
    • AverageRequest: Average TorqueCurrentFOC request of the mechanism.
    • DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

Reimplemented in ctre::phoenix6::hardware::core::CoreTalonFX.

◆ SetControl() [7/17]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::SupportsFOC::SetControl ( const controls::compound::Diff_VelocityTorqueCurrentFOC_Position & request)
virtual

Differential control with velocity average target and position difference target using torque current control.

  • Diff_VelocityTorqueCurrentFOC_Position Parameters:
    • AverageRequest: Average VelocityTorqueCurrentFOC request of the mechanism.
    • DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.
Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

Reimplemented in ctre::phoenix6::hardware::core::CoreTalonFX.

◆ SetControl() [8/17]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::SupportsFOC::SetControl ( const controls::compound::Diff_VelocityTorqueCurrentFOC_Velocity & request)
virtual

Differential control with velocity average target and velocity difference target using torque current control.

  • Diff_VelocityTorqueCurrentFOC_Velocity Parameters:
    • AverageRequest: Average VelocityTorqueCurrentFOC request of the mechanism.
    • DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.
Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

Reimplemented in ctre::phoenix6::hardware::core::CoreTalonFX.

◆ SetControl() [9/17]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::SupportsFOC::SetControl ( const controls::ControlRequest & request)
virtual

Control device with generic control request object.

User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the NotSupported StatusCode

Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

Reimplemented from ctre::phoenix6::hardware::traits::CommonTalon.

Reimplemented in ctre::phoenix6::hardware::core::CoreTalonFX.

◆ SetControl() [10/17]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::SupportsFOC::SetControl ( const controls::DynamicMotionMagicTorqueCurrentFOC & request)
virtual

Requests Motion Magic® to target a final position using a motion profile.

This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a torque current feedforward. This control requires use of a CANivore.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and (optional) Jerk. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

  • DynamicMotionMagicTorqueCurrentFOC Parameters:
    • Position: Position to drive toward in rotations.
    • Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
    • Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.
    • Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.

      Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.

    • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
    • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
    • OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
    • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
    • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
    • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

      This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

      The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

    • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

      This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

Reimplemented in ctre::phoenix6::hardware::core::CoreTalonFX.

◆ SetControl() [11/17]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::SupportsFOC::SetControl ( const controls::MotionMagicExpoTorqueCurrentFOC & request)
virtual

Requests Motion Magic® to target a final position using an exponential motion profile.

Users can optionally provide a torque current feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

  • MotionMagicExpoTorqueCurrentFOC Parameters:
    • Position: Position to drive toward in rotations.
    • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
    • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
    • OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
    • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
    • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
    • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

      This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

      The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

    • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

      This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

Reimplemented in ctre::phoenix6::hardware::core::CoreTalonFX.

◆ SetControl() [12/17]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::SupportsFOC::SetControl ( const controls::MotionMagicTorqueCurrentFOC & request)
virtual

Requests Motion Magic® to target a final position using a motion profile.

Users can optionally provide a torque current feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and (optional) Jerk specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

  • MotionMagicTorqueCurrentFOC Parameters:
    • Position: Position to drive toward in rotations.
    • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
    • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
    • OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
    • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
    • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
    • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

      This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

      The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

    • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

      This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

Reimplemented in ctre::phoenix6::hardware::core::CoreTalonFX.

◆ SetControl() [13/17]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::SupportsFOC::SetControl ( const controls::MotionMagicVelocityTorqueCurrentFOC & request)
virtual

Requests Motion Magic® to target a final velocity using a motion profile.

This allows smooth transitions between velocity set points. Users can optionally provide a torque feedforward.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile.

Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

  • MotionMagicVelocityTorqueCurrentFOC Parameters:
    • Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
    • Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
    • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.

      FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

    • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
    • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
    • OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
    • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
    • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
    • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

      This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

      The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

    • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

      This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

Reimplemented in ctre::phoenix6::hardware::core::CoreTalonFX.

◆ SetControl() [14/17]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::SupportsMusic::SetControl ( const controls::MusicTone & request)
virtual

Plays a single tone at the user specified frequency.

  • MusicTone Parameters:
    • AudioFrequency: Sound frequency to play. A value of zero will silence the device. The effective frequency range is 10-20000 Hz. Any nonzero frequency less than 10 Hz will be capped to 10 Hz. Any frequency above 20 kHz will be capped to 20 kHz.
Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

Implements ctre::phoenix6::hardware::traits::SupportsMusic.

Reimplemented in ctre::phoenix6::hardware::core::CoreTalonFX.

◆ SetControl() [15/17]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::SupportsFOC::SetControl ( const controls::PositionTorqueCurrentFOC & request)
virtual

Request PID to target position with torque current feedforward.

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

  • PositionTorqueCurrentFOC Parameters:
    • Position: Position to drive toward in rotations.
    • Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
    • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
    • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
    • OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
    • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
    • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
    • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

      This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

      The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

    • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

      This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

Reimplemented in ctre::phoenix6::hardware::core::CoreTalonFX.

◆ SetControl() [16/17]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::SupportsFOC::SetControl ( const controls::TorqueCurrentFOC & request)
virtual

Request a specified motor current (field oriented control).

This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.

  • TorqueCurrentFOC Parameters:
    • Output: Amount of motor current in Amperes
    • MaxAbsDutyCycle: The maximum absolute motor output that can be applied, which effectively limits the velocity. For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one.
    • Deadband: Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.
    • OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
    • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
    • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
    • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

      This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

      The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

    • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

      This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

Reimplemented in ctre::phoenix6::hardware::core::CoreTalonFX.

◆ SetControl() [17/17]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::SupportsFOC::SetControl ( const controls::VelocityTorqueCurrentFOC & request)
virtual

Request PID to target velocity with torque current feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

  • VelocityTorqueCurrentFOC Parameters:
    • Velocity: Velocity to drive toward in rotations per second.
    • Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
    • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
    • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
    • OverrideCoastDurNeutral: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
    • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
    • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
    • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

      This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

      The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

    • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

      This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters
requestControl object to request of the device
Returns
Status Code of the request, 0 is OK

Implements ctre::phoenix6::hardware::traits::SupportsFOC.

Reimplemented in ctre::phoenix6::hardware::core::CoreTalonFX.


The documentation for this class was generated from the following file: