CTRE Phoenix 6 C++ 25.2.1
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ctre::phoenix6::hardware::traits::HasExternalMotor Class Referenceabstract

Contains all status signals for motor controllers that support external motors. More...

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

Inheritance diagram for ctre::phoenix6::hardware::traits::HasExternalMotor:
ctre::phoenix6::hardware::traits::CommonTalonWithExternalMotor ctre::phoenix6::hardware::core::CoreTalonFXS ctre::phoenix6::hardware::TalonFXS

Public Member Functions

virtual ~HasExternalMotor ()=default
 
virtual StatusSignal< signals::ExternalMotorTempStatusValue > & GetExternalMotorTempStatus (bool refresh=true)=0
 Status of the temperature sensor of the external motor.
 
virtual StatusSignal< units::temperature::celsius_t > & GetExternalMotorTemp (bool refresh=true)=0
 Temperature of the external motor.
 
virtual StatusSignal< units::voltage::volt_t > & GetFiveVRailVoltage (bool refresh=true)=0
 The measured voltage of the 5V rail available on the JST and dataport connectors.
 
virtual StatusSignal< bool > & GetFault_BridgeShort (bool refresh=true)=0
 Bridge was disabled most likely due to a short in the motor leads.
 
virtual StatusSignal< bool > & GetStickyFault_BridgeShort (bool refresh=true)=0
 Bridge was disabled most likely due to a short in the motor leads.
 
virtual StatusSignal< bool > & GetFault_HallSensorMissing (bool refresh=true)=0
 Hall sensor signals are invalid.
 
virtual StatusSignal< bool > & GetStickyFault_HallSensorMissing (bool refresh=true)=0
 Hall sensor signals are invalid.
 
virtual StatusSignal< bool > & GetFault_DriveDisabledHallSensor (bool refresh=true)=0
 Hall sensor signals are invalid during motor drive, so motor was disabled.
 
virtual StatusSignal< bool > & GetStickyFault_DriveDisabledHallSensor (bool refresh=true)=0
 Hall sensor signals are invalid during motor drive, so motor was disabled.
 
virtual StatusSignal< bool > & GetFault_MotorTempSensorMissing (bool refresh=true)=0
 Motor temperature signal appears to not be connected.
 
virtual StatusSignal< bool > & GetStickyFault_MotorTempSensorMissing (bool refresh=true)=0
 Motor temperature signal appears to not be connected.
 
virtual StatusSignal< bool > & GetFault_MotorTempSensorTooHot (bool refresh=true)=0
 Motor temperature signal indicates motor is too hot.
 
virtual StatusSignal< bool > & GetStickyFault_MotorTempSensorTooHot (bool refresh=true)=0
 Motor temperature signal indicates motor is too hot.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_BridgeShort (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Bridge was disabled most likely due to a short in the motor leads.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_BridgeShort ()=0
 Clear sticky fault: Bridge was disabled most likely due to a short in the motor leads.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_HallSensorMissing (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Hall sensor signals are invalid.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_HallSensorMissing ()=0
 Clear sticky fault: Hall sensor signals are invalid.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_DriveDisabledHallSensor (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Hall sensor signals are invalid during motor drive, so motor was disabled.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_DriveDisabledHallSensor ()=0
 Clear sticky fault: Hall sensor signals are invalid during motor drive, so motor was disabled.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_MotorTempSensorMissing (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Motor temperature signal appears to not be connected.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_MotorTempSensorMissing ()=0
 Clear sticky fault: Motor temperature signal appears to not be connected.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_MotorTempSensorTooHot (units::time::second_t timeoutSeconds)=0
 Clear sticky fault: Motor temperature signal indicates motor is too hot.
 
virtual ctre::phoenix::StatusCode ClearStickyFault_MotorTempSensorTooHot ()=0
 Clear sticky fault: Motor temperature signal indicates motor is too hot.
 

Detailed Description

Contains all status signals for motor controllers that support external motors.

Constructor & Destructor Documentation

◆ ~HasExternalMotor()

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

Member Function Documentation

◆ ClearStickyFault_BridgeShort() [1/2]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasExternalMotor::ClearStickyFault_BridgeShort ( )
pure virtual

Clear sticky fault: Bridge was disabled most likely due to a short in the motor leads.

This will wait up to 0.100 seconds (100ms) by default.

Returns
StatusCode of the set command

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ ClearStickyFault_BridgeShort() [2/2]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasExternalMotor::ClearStickyFault_BridgeShort ( units::time::second_t timeoutSeconds)
pure virtual

Clear sticky fault: Bridge was disabled most likely due to a short in the motor leads.

Parameters
timeoutSecondsMaximum time to wait up to in seconds.
Returns
StatusCode of the set command

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ ClearStickyFault_DriveDisabledHallSensor() [1/2]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasExternalMotor::ClearStickyFault_DriveDisabledHallSensor ( )
pure virtual

Clear sticky fault: Hall sensor signals are invalid during motor drive, so motor was disabled.

Check hall sensor and cabling.

This will wait up to 0.100 seconds (100ms) by default.

Returns
StatusCode of the set command

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ ClearStickyFault_DriveDisabledHallSensor() [2/2]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasExternalMotor::ClearStickyFault_DriveDisabledHallSensor ( units::time::second_t timeoutSeconds)
pure virtual

Clear sticky fault: Hall sensor signals are invalid during motor drive, so motor was disabled.

Check hall sensor and cabling.

Parameters
timeoutSecondsMaximum time to wait up to in seconds.
Returns
StatusCode of the set command

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ ClearStickyFault_HallSensorMissing() [1/2]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasExternalMotor::ClearStickyFault_HallSensorMissing ( )
pure virtual

Clear sticky fault: Hall sensor signals are invalid.

Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.

This will wait up to 0.100 seconds (100ms) by default.

Returns
StatusCode of the set command

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ ClearStickyFault_HallSensorMissing() [2/2]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasExternalMotor::ClearStickyFault_HallSensorMissing ( units::time::second_t timeoutSeconds)
pure virtual

Clear sticky fault: Hall sensor signals are invalid.

Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.

Parameters
timeoutSecondsMaximum time to wait up to in seconds.
Returns
StatusCode of the set command

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ ClearStickyFault_MotorTempSensorMissing() [1/2]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasExternalMotor::ClearStickyFault_MotorTempSensorMissing ( )
pure virtual

Clear sticky fault: Motor temperature signal appears to not be connected.

This will wait up to 0.100 seconds (100ms) by default.

Returns
StatusCode of the set command

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ ClearStickyFault_MotorTempSensorMissing() [2/2]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasExternalMotor::ClearStickyFault_MotorTempSensorMissing ( units::time::second_t timeoutSeconds)
pure virtual

Clear sticky fault: Motor temperature signal appears to not be connected.

Parameters
timeoutSecondsMaximum time to wait up to in seconds.
Returns
StatusCode of the set command

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ ClearStickyFault_MotorTempSensorTooHot() [1/2]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasExternalMotor::ClearStickyFault_MotorTempSensorTooHot ( )
pure virtual

Clear sticky fault: Motor temperature signal indicates motor is too hot.

This will wait up to 0.100 seconds (100ms) by default.

Returns
StatusCode of the set command

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ ClearStickyFault_MotorTempSensorTooHot() [2/2]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasExternalMotor::ClearStickyFault_MotorTempSensorTooHot ( units::time::second_t timeoutSeconds)
pure virtual

Clear sticky fault: Motor temperature signal indicates motor is too hot.

Parameters
timeoutSecondsMaximum time to wait up to in seconds.
Returns
StatusCode of the set command

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ GetExternalMotorTemp()

virtual StatusSignal< units::temperature::celsius_t > & ctre::phoenix6::hardware::traits::HasExternalMotor::GetExternalMotorTemp ( bool refresh = true)
pure virtual

Temperature of the external motor.

  • Minimum Value: 0.0
  • Maximum Value: 255.0
  • Default Value: 0
  • Units: ℃

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
ExternalMotorTemp Status Signal Object

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ GetExternalMotorTempStatus()

virtual StatusSignal< signals::ExternalMotorTempStatusValue > & ctre::phoenix6::hardware::traits::HasExternalMotor::GetExternalMotorTempStatus ( bool refresh = true)
pure virtual

Status of the temperature sensor of the external motor.

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
ExternalMotorTempStatus Status Signal Object

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ GetFault_BridgeShort()

virtual StatusSignal< bool > & ctre::phoenix6::hardware::traits::HasExternalMotor::GetFault_BridgeShort ( bool refresh = true)
pure virtual

Bridge was disabled most likely due to a short in the motor leads.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
Fault_BridgeShort Status Signal Object

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ GetFault_DriveDisabledHallSensor()

virtual StatusSignal< bool > & ctre::phoenix6::hardware::traits::HasExternalMotor::GetFault_DriveDisabledHallSensor ( bool refresh = true)
pure virtual

Hall sensor signals are invalid during motor drive, so motor was disabled.

Check hall sensor and cabling.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
Fault_DriveDisabledHallSensor Status Signal Object

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ GetFault_HallSensorMissing()

virtual StatusSignal< bool > & ctre::phoenix6::hardware::traits::HasExternalMotor::GetFault_HallSensorMissing ( bool refresh = true)
pure virtual

Hall sensor signals are invalid.

Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
Fault_HallSensorMissing Status Signal Object

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ GetFault_MotorTempSensorMissing()

virtual StatusSignal< bool > & ctre::phoenix6::hardware::traits::HasExternalMotor::GetFault_MotorTempSensorMissing ( bool refresh = true)
pure virtual

Motor temperature signal appears to not be connected.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
Fault_MotorTempSensorMissing Status Signal Object

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ GetFault_MotorTempSensorTooHot()

virtual StatusSignal< bool > & ctre::phoenix6::hardware::traits::HasExternalMotor::GetFault_MotorTempSensorTooHot ( bool refresh = true)
pure virtual

Motor temperature signal indicates motor is too hot.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
Fault_MotorTempSensorTooHot Status Signal Object

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ GetFiveVRailVoltage()

virtual StatusSignal< units::voltage::volt_t > & ctre::phoenix6::hardware::traits::HasExternalMotor::GetFiveVRailVoltage ( bool refresh = true)
pure virtual

The measured voltage of the 5V rail available on the JST and dataport connectors.

  • Minimum Value: 0.0
  • Maximum Value: 40.95
  • Default Value: 0
  • Units: Volts

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
FiveVRailVoltage Status Signal Object

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ GetStickyFault_BridgeShort()

virtual StatusSignal< bool > & ctre::phoenix6::hardware::traits::HasExternalMotor::GetStickyFault_BridgeShort ( bool refresh = true)
pure virtual

Bridge was disabled most likely due to a short in the motor leads.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
StickyFault_BridgeShort Status Signal Object

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ GetStickyFault_DriveDisabledHallSensor()

virtual StatusSignal< bool > & ctre::phoenix6::hardware::traits::HasExternalMotor::GetStickyFault_DriveDisabledHallSensor ( bool refresh = true)
pure virtual

Hall sensor signals are invalid during motor drive, so motor was disabled.

Check hall sensor and cabling.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
StickyFault_DriveDisabledHallSensor Status Signal Object

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ GetStickyFault_HallSensorMissing()

virtual StatusSignal< bool > & ctre::phoenix6::hardware::traits::HasExternalMotor::GetStickyFault_HallSensorMissing ( bool refresh = true)
pure virtual

Hall sensor signals are invalid.

Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
StickyFault_HallSensorMissing Status Signal Object

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ GetStickyFault_MotorTempSensorMissing()

virtual StatusSignal< bool > & ctre::phoenix6::hardware::traits::HasExternalMotor::GetStickyFault_MotorTempSensorMissing ( bool refresh = true)
pure virtual

Motor temperature signal appears to not be connected.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
StickyFault_MotorTempSensorMissing Status Signal Object

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.

◆ GetStickyFault_MotorTempSensorTooHot()

virtual StatusSignal< bool > & ctre::phoenix6::hardware::traits::HasExternalMotor::GetStickyFault_MotorTempSensorTooHot ( bool refresh = true)
pure virtual

Motor temperature signal indicates motor is too hot.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters
refreshWhether to refresh the StatusSignal before returning it; defaults to true
Returns
StickyFault_MotorTempSensorTooHot Status Signal Object

Implemented in ctre::phoenix6::hardware::core::CoreTalonFXS.


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