CTRE_Phoenix  5.19.4
ctre::phoenix::motorcontrol Namespace Reference

Namespaces

 can
 
 lowlevel
 

Classes

class  ControlFrameRoutines
 
class  DeviceCatalog
 
struct  Faults
 
class  FeedbackDeviceRoutines
 
class  GroupMotorControllers
 
class  IFollower
 
class  IMotorController
 
class  IMotorControllerEnhanced
 
class  LimitSwitchRoutines
 
class  RemoteSensorSourceRoutines
 
class  SensorCollection
 
class  SensorTermRoutines
 
struct  StatorCurrentLimitConfiguration
 
class  StatusFrameRoutines
 
struct  StickyFaults
 
struct  SupplyCurrentLimitConfiguration
 
class  TalonFXSensorCollection
 
class  TalonSRXSimCollection
 
class  VelocityMeasPeriodRoutines
 
class  VictorSPXSimCollection
 
class  WPI_AutoFeedEnable
 
class  WPI_MotorSafetyImplem
 

Enumerations

enum  ControlFrame { Control_3_General = 0x040080, Control_4_Advanced = 0x0400C0, Control_6_MotProfAddTrajPoint = 0x040140 }
 
enum  ControlFrameEnhanced { Control_3_General_ = 0x040080, Control_4_Advanced_ = 0x0400c0, Control_5_FeedbackOutputOverride_ = 0x040100, Control_6_MotProfAddTrajPoint_ = 0x040140 }
 
enum  ControlMode {
  ControlMode::PercentOutput = 0, ControlMode::Position = 1, ControlMode::Velocity = 2, ControlMode::Current = 3,
  ControlMode::Follower = 5, ControlMode::MotionProfile = 6, ControlMode::MotionMagic = 7, ControlMode::MotionProfileArc = 10,
  ControlMode::MusicTone = 13, ControlMode::Disabled = 15
}
 
enum  TalonFXControlMode {
  TalonFXControlMode::PercentOutput = 0, TalonFXControlMode::Position = 1, TalonFXControlMode::Velocity = 2, TalonFXControlMode::Current = 3,
  TalonFXControlMode::Follower = 5, TalonFXControlMode::MotionProfile = 6, TalonFXControlMode::MotionMagic = 7, TalonFXControlMode::MotionProfileArc = 10,
  TalonFXControlMode::MusicTone = 13, TalonFXControlMode::Disabled = 15
}
 
enum  TalonSRXControlMode {
  TalonSRXControlMode::PercentOutput = 0, TalonSRXControlMode::Position = 1, TalonSRXControlMode::Velocity = 2, TalonSRXControlMode::Current = 3,
  TalonSRXControlMode::Follower = 5, TalonSRXControlMode::MotionProfile = 6, TalonSRXControlMode::MotionMagic = 7, TalonSRXControlMode::MotionProfileArc = 10,
  TalonSRXControlMode::Disabled = 15
}
 
enum  VictorSPXControlMode {
  VictorSPXControlMode::PercentOutput = 0, VictorSPXControlMode::Position = 1, VictorSPXControlMode::Velocity = 2, VictorSPXControlMode::Follower = 5,
  VictorSPXControlMode::MotionProfile = 6, VictorSPXControlMode::MotionMagic = 7, VictorSPXControlMode::MotionProfileArc = 10, VictorSPXControlMode::Disabled = 15
}
 
enum  DemandType { DemandType_Neutral = 0, DemandType_AuxPID = 1, DemandType_ArbitraryFeedForward = 2 }
 
enum  FeedbackDevice {
  FeedbackDevice::QuadEncoder = 0, FeedbackDevice::IntegratedSensor = 1, FeedbackDevice::Analog = 2, FeedbackDevice::Tachometer = 4,
  FeedbackDevice::PulseWidthEncodedPosition = 8, FeedbackDevice::SensorSum = 9, FeedbackDevice::SensorDifference = 10, FeedbackDevice::RemoteSensor0 = 11,
  FeedbackDevice::RemoteSensor1 = 12, FeedbackDevice::None = 14, FeedbackDevice::SoftwareEmulatedSensor = 15, FeedbackDevice::CTRE_MagEncoder_Absolute = PulseWidthEncodedPosition,
  FeedbackDevice::CTRE_MagEncoder_Relative = QuadEncoder
}
 
enum  TalonSRXFeedbackDevice {
  TalonSRXFeedbackDevice::QuadEncoder = 0, TalonSRXFeedbackDevice::Analog = 2, TalonSRXFeedbackDevice::Tachometer = 4, TalonSRXFeedbackDevice::PulseWidthEncodedPosition = 8,
  TalonSRXFeedbackDevice::SensorSum = 9, TalonSRXFeedbackDevice::SensorDifference = 10, TalonSRXFeedbackDevice::RemoteSensor0 = 11, TalonSRXFeedbackDevice::RemoteSensor1 = 12,
  TalonSRXFeedbackDevice::None = 14, TalonSRXFeedbackDevice::SoftwareEmulatedSensor = 15, TalonSRXFeedbackDevice::CTRE_MagEncoder_Absolute = PulseWidthEncodedPosition, TalonSRXFeedbackDevice::CTRE_MagEncoder_Relative = QuadEncoder
}
 
enum  TalonFXFeedbackDevice {
  TalonFXFeedbackDevice::IntegratedSensor = 1, TalonFXFeedbackDevice::SensorSum = 9, TalonFXFeedbackDevice::SensorDifference = 10, TalonFXFeedbackDevice::RemoteSensor0 = 11,
  TalonFXFeedbackDevice::RemoteSensor1 = 12, TalonFXFeedbackDevice::None = 14, TalonFXFeedbackDevice::SoftwareEmulatedSensor = 15
}
 
enum  RemoteFeedbackDevice {
  RemoteFeedbackDevice::RemoteFeedbackDevice_FactoryDefaultOff = 0, RemoteFeedbackDevice::FactoryDefaultOff = RemoteFeedbackDevice_FactoryDefaultOff, RemoteFeedbackDevice::RemoteFeedbackDevice_SensorSum = 9, RemoteFeedbackDevice::SensorSum = RemoteFeedbackDevice_SensorSum,
  RemoteFeedbackDevice::RemoteFeedbackDevice_SensorDifference = 10, RemoteFeedbackDevice::SensorDifference = RemoteFeedbackDevice_SensorDifference, RemoteFeedbackDevice::RemoteFeedbackDevice_RemoteSensor0 = 11, RemoteFeedbackDevice::RemoteSensor0 = RemoteFeedbackDevice_RemoteSensor0,
  RemoteFeedbackDevice::RemoteFeedbackDevice_RemoteSensor1 = 12, RemoteFeedbackDevice::RemoteSensor1 = RemoteFeedbackDevice_RemoteSensor1, RemoteFeedbackDevice::RemoteFeedbackDevice_None = 14, RemoteFeedbackDevice::None = RemoteFeedbackDevice_None,
  RemoteFeedbackDevice::RemoteFeedbackDevice_SoftwareEmulatedSensor = 15, RemoteFeedbackDevice::SoftwareEmulatedSensor = RemoteFeedbackDevice_SoftwareEmulatedSensor
}
 
enum  FollowerType { FollowerType_PercentOutput = 0, FollowerType_AuxOutput1 }
 
enum  InvertType { InvertType::None = 0, InvertType::InvertMotorOutput = 1, InvertType::FollowMaster = 2, InvertType::OpposeMaster = 3 }
 
enum  TalonFXInvertType { TalonFXInvertType::CounterClockwise = 0, TalonFXInvertType::Clockwise = 1, TalonFXInvertType::FollowMaster = 2, TalonFXInvertType::OpposeMaster = 3 }
 
enum  LimitSwitchSource {
  LimitSwitchSource_FeedbackConnector = 0, LimitSwitchSource_RemoteTalon = 1, LimitSwitchSource_RemoteTalonSRX = LimitSwitchSource_RemoteTalon, LimitSwitchSource_RemoteCANifier = 2,
  LimitSwitchSource_Deactivated = 3
}
 
enum  RemoteLimitSwitchSource {
  RemoteLimitSwitchSource_FactoryDefaultOff = 0, RemoteLimitSwitchSource_RemoteTalon = 1, RemoteLimitSwitchSource_RemoteTalonSRX = RemoteLimitSwitchSource_RemoteTalon, RemoteLimitSwitchSource_RemoteCANifier = 2,
  RemoteLimitSwitchSource_Deactivated = 3
}
 
enum  LimitSwitchNormal { LimitSwitchNormal_NormallyOpen = 0, LimitSwitchNormal_NormallyClosed = 1, LimitSwitchNormal_Disabled = 2 }
 
enum  MotorCommutation { MotorCommutation::Trapezoidal = 0 }
 
enum  NeutralMode { EEPROMSetting = 0, Coast = 1, Brake = 2 }
 
enum  RemoteSensorSource {
  RemoteSensorSource::RemoteSensorSource_Off, RemoteSensorSource::RemoteSensorSource_TalonSRX_SelectedSensor, RemoteSensorSource::RemoteSensorSource_Pigeon_Yaw, RemoteSensorSource::RemoteSensorSource_Pigeon_Pitch,
  RemoteSensorSource::RemoteSensorSource_Pigeon_Roll, RemoteSensorSource::RemoteSensorSource_CANifier_Quadrature, RemoteSensorSource::RemoteSensorSource_CANifier_PWMInput0, RemoteSensorSource::RemoteSensorSource_CANifier_PWMInput1,
  RemoteSensorSource::RemoteSensorSource_CANifier_PWMInput2, RemoteSensorSource::RemoteSensorSource_CANifier_PWMInput3, RemoteSensorSource::RemoteSensorSource_GadgeteerPigeon_Yaw, RemoteSensorSource::RemoteSensorSource_GadgeteerPigeon_Pitch,
  RemoteSensorSource::RemoteSensorSource_GadgeteerPigeon_Roll, RemoteSensorSource::RemoteSensorSource_CANCoder, RemoteSensorSource::RemoteSensorSource_TalonFX_SelectedSensor = RemoteSensorSource_TalonSRX_SelectedSensor
}
 
enum  SensorTerm { SensorTerm::SensorTerm_Sum0, SensorTerm::SensorTerm_Sum1, SensorTerm::SensorTerm_Diff0, SensorTerm::SensorTerm_Diff1 }
 
enum  StatusFrameEnhanced {
  Status_1_General = 0x1400, Status_2_Feedback0 = 0x1440, Status_4_AinTempVbat = 0x14C0, Status_6_Misc = 0x1540,
  Status_7_CommStatus = 0x1580, Status_9_MotProfBuffer = 0x1600, Status_10_MotionMagic = 0x1640, Status_10_Targets = 0x1640,
  Status_12_Feedback1 = 0x16C0, Status_13_Base_PIDF0 = 0x1700, Status_14_Turn_PIDF1 = 0x1740, Status_15_FirmareApiStatus = 0x1780,
  Status_17_Targets1 = 0x1C00, Status_3_Quadrature = 0x1480, Status_8_PulseWidth = 0x15C0, Status_11_UartGadgeteer = 0x1680,
  Status_Brushless_Current = 0x1240
}
 
enum  StatusFrame {
  Status_1_General_ = 0x1400, Status_2_Feedback0_ = 0x1440, Status_4_AinTempVbat_ = 0x14C0, Status_6_Misc_ = 0x1540,
  Status_7_CommStatus_ = 0x1580, Status_9_MotProfBuffer_ = 0x1600, Status_10_MotionMagic_ = 0x1640, Status_10_Targets_ = 0x1640,
  Status_12_Feedback1_ = 0x16C0, Status_13_Base_PIDF0_ = 0x1700, Status_14_Turn_PIDF1_ = 0x1740, Status_15_FirmareApiStatus_ = 0x1780,
  Status_17_Targets1_ = 0x1C00
}
 
enum  VelocityMeasPeriod {
  Period_1Ms = 1, Period_2Ms = 2, Period_5Ms = 5, Period_10Ms = 10,
  Period_20Ms = 20, Period_25Ms = 25, Period_50Ms = 50, Period_100Ms = 100
}
 

Detailed Description

namespace motorcontrol

Enumeration Type Documentation

◆ ControlFrame

Control Frames for motor controllers

Enumerator
Control_3_General 

Control

Control_4_Advanced 

Advanced Control

Control_6_MotProfAddTrajPoint 

Trajectory points

◆ ControlFrameEnhanced

Control Frames for enhanced motor controllers

Enumerator
Control_3_General_ 

Control

Control_4_Advanced_ 

Advanced Control

Control_5_FeedbackOutputOverride_ 

Override feedback output

Control_6_MotProfAddTrajPoint_ 

Trajectory points

◆ ControlMode

Choose the control mode for a motor controller. Consult product specific documentation to determine what is available/supported.

Enumerator
PercentOutput 

Percent output [-1,1]

Position 

Position closed loop

Velocity 

Velocity closed loop

Current 

Input current closed loop

Follower 

Follow other motor controller

MotionProfile 

Motion Profile

MotionMagic 

Motion Magic

MotionProfileArc 

Motion Profile with auxiliary output

MusicTone 

Plays a single tone. Frequency (hz) is passed into set.

Disabled 

Disable Motor Controller

◆ DemandType

How to interpret a demand value.

Enumerator
DemandType_Neutral 

Ignore the demand value and apply neutral/no-change.

DemandType_AuxPID 

Target value of Aux PID loop 1.

When closed-looping, set the target of the aux PID loop to the demand value.

When following, follow the processed output of the combined primary/aux PID output of the master. The demand value is ignored. Although it is much cleaner to use the 2-param Follow() in such cases.

DemandType_ArbitraryFeedForward 

Simply add to the output.

When closed-looping, add demand arbitrarily to the closed-loop output.

◆ FeedbackDevice

Choose the feedback device for a motor controller. Consult product specific documentation to determine what is available/supported.

Enumerator
QuadEncoder 

Quadrature encoder

IntegratedSensor 

TalonFX supports an integrated sensor.

Analog 

Analog potentiometer/encoder

Tachometer 

Tachometer

PulseWidthEncodedPosition 

CTRE Mag Encoder in Absolute mode or any other device that uses PWM to encode its output

SensorSum 

Sum0 + Sum1

SensorDifference 

Diff0 - Diff1

RemoteSensor0 

Sensor configured in RemoteFilter0

RemoteSensor1 

Sensor configured in RemoteFilter1

None 

Position and velocity will read 0.

SoftwareEmulatedSensor 

Motor Controller will fake a sensor based on applied motor output.

CTRE_MagEncoder_Absolute 

CTR mag encoder configured in absolute, is the same as a PWM sensor.

CTRE_MagEncoder_Relative 

CTR mag encoder configured in relative, is the same as an quadrature encoder sensor.

◆ FollowerType

Choose the type of follower

Enumerator
FollowerType_PercentOutput 

Follow the percentOutput the master is using

FollowerType_AuxOutput1 

Follow the auxiliary output the master is calculating. Used for 2-axis control. This typically means apply PID0 - PID1 from master.

◆ InvertType

Choose the invert type of the motor controller. None is the equivalent of SetInverted(false), where positive request yields positive voltage on M+. InvertMotorOutput is the equivelant of SetInverted(true), where positive request yields positive voltage on M-. FollowMaster/OpposeMaster will match/oppose a master Talon/Victor. This requires device to be configured as a follower.

Enumerator
None 

Same as SetInverted(false)

InvertMotorOutput 

Same as SetInverted(true)

FollowMaster 

Follow the invert of the master this MC is following.

OpposeMaster 

Opposite of the invert of the master this MC is following.

◆ LimitSwitchNormal

Choose whether the limit switch is normally open or normally closed

Enumerator
LimitSwitchNormal_NormallyOpen 

Limit Switch is tripped when the circuit is closed

LimitSwitchNormal_NormallyClosed 

Limit Switch is tripped when the circuit is open

LimitSwitchNormal_Disabled 

Limit switch is disabled

◆ LimitSwitchSource

Limit switch source enum

Enumerator
LimitSwitchSource_FeedbackConnector 

Limit switch directly connected to motor controller

LimitSwitchSource_RemoteTalon 

Use Limit switch connected to Talon on CAN

LimitSwitchSource_RemoteTalonSRX 

Use Limit switch connected to TalonSRX on CAN

LimitSwitchSource_RemoteCANifier 

User Limit switch connected to CANifier

LimitSwitchSource_Deactivated 

Don't use a limit switch

◆ MotorCommutation

Choose the type of motor commutation. This is for products that support selectable commutation strategies.

Enumerator
Trapezoidal 

Trapezoidal Commutation.

◆ NeutralMode

Choose the neutral mode for a motor controller

Enumerator
EEPROMSetting 

Use the NeutralMode that is set in the MC's persistent storage.

Coast 

When commanded to neutral, motor leads are set to high-impedance, allowing mechanism to coast.

Brake 

When commanded to neutral, motor leads are commonized electrically to reduce motion.

◆ RemoteFeedbackDevice

Choose the remote feedback device for a motor controller.

Enumerator
RemoteFeedbackDevice_FactoryDefaultOff 

[[deprecated("Use None instead.")]] Factory default setting for non-enhanced motor controllers

FactoryDefaultOff 

[[deprecated("Use None instead.")]] Factory default setting for non-enhanced motor controllers

RemoteFeedbackDevice_SensorSum 

[[deprecated("Use SensorSum instead.")]] Use Sum0 + Sum1

SensorSum 

Use Sum0 + Sum1

RemoteFeedbackDevice_SensorDifference 

[[deprecated("Use SensorDifference instead.")]] Use Diff0 - Diff1

SensorDifference 

Use Diff0 - Diff1

RemoteFeedbackDevice_RemoteSensor0 

[[deprecated("Use RemoteSensor0 instead.")]] Use the sensor configured in filter0

RemoteSensor0 

Use the sensor configured in filter0

RemoteFeedbackDevice_RemoteSensor1 

[[deprecated("Use RemoteSensor1 instead.")]] Use the sensor configured in filter1

RemoteSensor1 

Use the sensor configured in filter1

RemoteFeedbackDevice_None 

[[deprecated("Use None instead.")]] Position and velocity will read 0.

None 

Position and velocity will read 0.

RemoteFeedbackDevice_SoftwareEmulatedSensor 

[[deprecated("Use SoftwareEmulatedSensor instead.")]] Motor Controller will fake a sensor based on applied motor output.

SoftwareEmulatedSensor 

Motor Controller will fake a sensor based on applied motor output.

◆ RemoteLimitSwitchSource

Remote Limit switch source enum

Enumerator
RemoteLimitSwitchSource_FactoryDefaultOff 

Don't use limit switch, this is the factory default value

RemoteLimitSwitchSource_RemoteTalon 

Use Limit switch connected to Talon on CAN

RemoteLimitSwitchSource_RemoteTalonSRX 

Use Limit switch connected to TalonSRX on CAN

RemoteLimitSwitchSource_RemoteCANifier 

User Limit switch connected to CANifier

RemoteLimitSwitchSource_Deactivated 

Don't use a limit switch

◆ RemoteSensorSource

Choose the remote sensor source for a motor controller

Enumerator
RemoteSensorSource_Off 

Don't use a sensor

RemoteSensorSource_TalonSRX_SelectedSensor 

Use a sensor connected to a TalonSRX and configured on the TalonSRX

RemoteSensorSource_Pigeon_Yaw 

Use a CAN Pigeon's Yaw value

RemoteSensorSource_Pigeon_Pitch 

Use a CAN Pigeon's Pitch value

RemoteSensorSource_Pigeon_Roll 

Use a CAN Pigeon's Roll value

RemoteSensorSource_CANifier_Quadrature 

Use a quadrature sensor connected to a CANifier

RemoteSensorSource_CANifier_PWMInput0 

Use a PWM sensor connected to CANifier's PWM0

RemoteSensorSource_CANifier_PWMInput1 

Use a PWM sensor connected to CANifier's PWM1

RemoteSensorSource_CANifier_PWMInput2 

Use a PWM sensor connected to CANifier's PWM2

RemoteSensorSource_CANifier_PWMInput3 

Use a PWM sensor connected to CANifier's PWM3

RemoteSensorSource_GadgeteerPigeon_Yaw 

Use the yaw value of a pigeon connected to a talon over ribbon cable

RemoteSensorSource_GadgeteerPigeon_Pitch 

Use the pitch value of a pigeon connected to a talon over ribbon cable

RemoteSensorSource_GadgeteerPigeon_Roll 

Use the roll value of a pigeon connected to a talon over ribbon cable

RemoteSensorSource_CANCoder 

Use CANCoder

RemoteSensorSource_TalonFX_SelectedSensor 

Remote Sensor Source 14 is reserved Use a sensor connected to a TalonFX and configured on the TalonFX

◆ SensorTerm

Choose the sensor term for a motor controller

Enumerator
SensorTerm_Sum0 

Choose Sum0 for a term

SensorTerm_Sum1 

Choose Sum1 for a term

SensorTerm_Diff0 

Choose Diff0 for a term

SensorTerm_Diff1 

Choose Diff1 for a term

◆ StatusFrame

The different status frames available to motor controllers

Enumerator
Status_1_General_ 

General Status

Status_2_Feedback0_ 

Main controller feedback

Status_4_AinTempVbat_ 

Analog sensor, motor controller temperature, and voltage at input leads

Status_6_Misc_ 

Miscellaneous signals

Status_7_CommStatus_ 

Communication status to controller

Status_9_MotProfBuffer_ 

Motion profile buffer status

Status_10_MotionMagic_ 

Old name for Status 10. Use

See also
Status_10_Targets instead.
Status_10_Targets_ 

Correct name for Status 10. Functionally equivalent to

See also
Status_10_MotionMagic
Status_12_Feedback1_ 

Secondary controller feedback

Status_13_Base_PIDF0_ 

Base PID

Status_14_Turn_PIDF1_ 

Auxiliary PID

Status_15_FirmareApiStatus_ 

Firmware & API status information

Status_17_Targets1_ 

MotionProfile Targets for Auxiliary PID1.

◆ StatusFrameEnhanced

The different status frames available to enhanced motor controllers

Enumerator
Status_1_General 

General Status

Status_2_Feedback0 

Feedback for selected sensor on primary PID[0].

Status_4_AinTempVbat 

Analog sensor, motor controller temperature, and voltage at input leads

Status_6_Misc 

Miscellaneous signals

Status_7_CommStatus 

Communication status

Status_9_MotProfBuffer 

Motion profile buffer status

Status_10_MotionMagic 

Old name for Status 10. Use

See also
Status_10_Targets instead.
Status_10_Targets 

Correct name for Status 10. Functionally equivalent to

See also
Status_10_MotionMagic
Status_12_Feedback1 

Feedback for selected sensor on aux PID[1].

Status_13_Base_PIDF0 

Primary PID

Status_14_Turn_PIDF1 

Auxiliary PID

Status_15_FirmareApiStatus 

Firmware & API status information

Status_17_Targets1 

MotionProfile Targets for Auxiliary PID1.

Status_3_Quadrature 

Quadrature sensor

Status_8_PulseWidth 

Pulse width sensor

Status_11_UartGadgeteer 

Gadgeteer status

Status_Brushless_Current 

Brushless Current Status. Includes Stator and Supply Current for Talon FX.

◆ TalonFXControlMode

Choose the control mode for a TalonFX / Falcon 500.

Enumerator
PercentOutput 

Percent output [-1,1]

Position 

Position closed loop

Velocity 

Velocity closed loop

Current 

Input current closed loop

Follower 

Follow other motor controller

MotionProfile 

Motion Profile

MotionMagic 

Motion Magic

MotionProfileArc 

Motion Profile with auxiliary output

MusicTone 

Plays a single tone. Frequency (hz) is passed into set.

Disabled 

Disable Motor Controller

◆ TalonFXFeedbackDevice

Choose the feedback device for a Talon FX/Falcon 500.

Enumerator
IntegratedSensor 

TalonFX supports an integrated sensor.

SensorSum 

Sum0 + Sum1

SensorDifference 

Diff0 - Diff1

RemoteSensor0 

Sensor configured in RemoteFilter0

RemoteSensor1 

Sensor configured in RemoteFilter1

None 

Position and velocity will read 0.

SoftwareEmulatedSensor 

Motor Controller will fake a sensor based on applied motor output.

◆ TalonFXInvertType

Choose the invert type for a Talon FX based integrated motor controller. CCW is the equivalent of SetInverted(false), CW is the equivalent of SetInverted(true). FollowMaster/OpposeMaster will match/oppose a master Talon/Victor. This requires device to be configured as a follower.

Enumerator
CounterClockwise 

Same as SetInverted(false)

Clockwise 

Same as SetInverted(true)

FollowMaster 

Follow the invert of the master this MC is following.

OpposeMaster 

Opposite of the invert of the master this MC is following.

◆ TalonSRXControlMode

Choose the control mode for a Talon SRX.

Enumerator
PercentOutput 

Percent output [-1,1]

Position 

Position closed loop

Velocity 

Velocity closed loop

Current 

Input current closed loop

Follower 

Follow other motor controller

MotionProfile 

Motion Profile

MotionMagic 

Motion Magic

MotionProfileArc 

Motion Profile with auxiliary output

Disabled 

Disable Motor Controller

◆ TalonSRXFeedbackDevice

Choose the feedback device for a Talon SRX

Enumerator
QuadEncoder 

Quadrature encoder

Analog 

Analog potentiometer/encoder

Tachometer 

Tachometer

PulseWidthEncodedPosition 

CTRE Mag Encoder in Absolute mode or any other device that uses PWM to encode its output

SensorSum 

Sum0 + Sum1

SensorDifference 

Diff0 - Diff1

RemoteSensor0 

Sensor configured in RemoteFilter0

RemoteSensor1 

Sensor configured in RemoteFilter1

None 

Position and velocity will read 0.

SoftwareEmulatedSensor 

Motor Controller will fake a sensor based on applied motor output.

CTRE_MagEncoder_Absolute 

CTR mag encoder configured in absolute, is the same as a PWM sensor.

CTRE_MagEncoder_Relative 

CTR mag encoder configured in relative, is the same as an quadrature encoder sensor.

◆ VelocityMeasPeriod

Velocity Measurement Periods

Enumerator
Period_1Ms 

1ms measurement period

Period_2Ms 

2ms measurement period

Period_5Ms 

5ms measurement period

Period_10Ms 

10ms measurement period

Period_20Ms 

20ms measurement period

Period_25Ms 

25ms measurement period

Period_50Ms 

50ms measurement period

Period_100Ms 

100ms measurement period

◆ VictorSPXControlMode

Choose the control mode for a Victor SPX.

Enumerator
PercentOutput 

Percent output [-1,1]

Position 

Position closed loop

Velocity 

Velocity closed loop

Follower 

Follow other motor controller

MotionProfile 

Motion Profile

MotionMagic 

Motion Magic

MotionProfileArc 

Motion Profile with auxiliary output

Disabled 

Disable Motor Controller