CTRE Phoenix 6 C++ 25.3.1
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Contains all control functions available for devices that support Talon controls. More...
#include <ctre/phoenix6/hardware/traits/HasTalonControls.hpp>
Public Member Functions | |
virtual | ~HasTalonControls ()=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. | |
virtual ctre::phoenix::StatusCode | SetControl (const controls::ControlRequest &request)=0 |
Control device with generic control request object. | |
Contains all control functions available for devices that support Talon controls.
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virtualdefault |
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pure virtual |
Request coast neutral output of actuator.
The bridge is disabled and the rotor is allowed to coast.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Differential control with duty cycle average target and position difference target.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Differential control with duty cycle average target and velocity difference target.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Differential control with Motion Magic® average target and position difference target using dutycycle control.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Differential control with Motion Magic® average target and velocity difference target using dutycycle control.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Differential control with Motion Magic® average target and position difference target using voltage control.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Differential control with Motion Magic® average target and velocity difference target using voltage control.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Differential control with position average target and position difference target using dutycycle control.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Differential control with position average target and velocity difference target using dutycycle control.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Differential control with position average target and position difference target using voltage control.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Differential control with position average target and velocity difference target using voltage control.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Differential control with velocity average target and position difference target using dutycycle control.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Differential control with velocity average target and velocity difference target using dutycycle control.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Differential control with velocity average target and position difference target using voltage control.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Differential control with velocity average target and velocity difference target using voltage control.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Differential control with voltage average target and position difference target.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Differential control with voltage average target and velocity difference target.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure 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
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, ctre::phoenix6::hardware::traits::CommonTalon, and ctre::phoenix6::hardware::traits::CommonTalonWithFOC.
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pure virtual |
Request a specified motor duty cycle with a differential position closed-loop.
This control mode will output a proportion of the supplied voltage which is supplied by the user. It will also set the motor's differential position setpoint to the specified position.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Follow the differential motor output of another Talon.
If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction either matches master's configured direction or opposes it based on OpposeMasterDirection.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.
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 duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.
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 voltage-based, so relevant closed-loop gains will use Volts for the numerator.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Request PID to target position with a differential position setpoint.
This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Request PID to target position with a differential position setpoint.
This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Follow the differential motor output of another Talon while ignoring the master's invert setting.
If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction is strictly determined by the configured invert and not the master. If you want motor direction to match or oppose the master, use FollowerRequest instead.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Request PID to target velocity with a differential position setpoint.
This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Request PID to target velocity with a differential position setpoint.
This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
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pure virtual |
Request a specified voltage with a differential position closed-loop.
This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage. It will also set the motor's differential position setpoint to the specified position.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure virtual |
Request a specified motor duty cycle.
This control mode will output a proportion of the supplied voltage which is supplied by the user.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure 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 duty cycle 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 duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
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.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure 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 voltage 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 voltage-based, so relevant closed-loop gains will use Volts for the numerator.
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.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure virtual |
Follow the motor output of another Talon.
If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction either matches master's configured direction or opposes it based on OpposeMasterDirection.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure virtual |
Requests Motion Magic® to target a final position using a motion profile.
Users can optionally provide a duty cycle 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 duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure virtual |
Requests Motion Magic® to target a final position using an exponential motion profile.
Users can optionally provide a duty cycle 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 duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure virtual |
Requests Motion Magic® to target a final position using an exponential motion profile.
Users can optionally provide a voltage 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 voltage-based, so relevant closed-loop gains will use Volts for the numerator.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure 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 duty cycle 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 duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure 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 voltage 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 voltage-based, so relevant closed-loop gains will use Volts for the numerator.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure virtual |
Requests Motion Magic® to target a final position using a motion profile.
Users can optionally provide a voltage 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 voltage-based, so relevant closed-loop gains will use Volts for the numerator.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure virtual |
Request neutral output of actuator.
The applied brake type is determined by the NeutralMode configuration.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure virtual |
Request PID to target position with duty cycle feedforward.
This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional duty cycle as an arbitrary feedforward value.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure virtual |
Request PID to target position with voltage feedforward.
This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure virtual |
Applies full neutral-brake by shorting motor leads together.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure virtual |
Follow the motor output of another Talon while ignoring the master's invert setting.
If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction is strictly determined by the configured invert and not the master. If you want motor direction to match or oppose the master, use FollowerRequest instead.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure virtual |
Request PID to target velocity with duty cycle feedforward.
This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure virtual |
Request PID to target velocity with voltage feedforward.
This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.
|
pure virtual |
Request a specified voltage.
This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage.
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.
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.
request | Control object to request of the device |
Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.