CTRE_Phoenix  5.19.4
ctre::phoenix::motorcontrol::can::BaseTalonConfiguration Struct Reference

#include <BaseTalon.h>

Inherits ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration.

Inherited by ctre::phoenix::motorcontrol::can::TalonFXConfiguration, and ctre::phoenix::motorcontrol::can::TalonSRXConfiguration.

Public Member Functions

 BaseTalonConfiguration (FeedbackDevice defaultFeedbackDevice)
 
std::string toString ()
 
std::string toString (std::string prependString)
 
- Public Member Functions inherited from ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration
std::string toString ()
 
std::string toString (std::string prependString)
 
- Public Member Functions inherited from ctre::phoenix::CustomParamConfiguration
std::string toString ()
 
std::string toString (std::string prependString)
 

Public Attributes

BaseTalonPIDSetConfiguration primaryPID
 
BaseTalonPIDSetConfiguration auxiliaryPID
 
LimitSwitchSource forwardLimitSwitchSource
 
LimitSwitchSource reverseLimitSwitchSource
 
int forwardLimitSwitchDeviceID
 
int reverseLimitSwitchDeviceID
 
LimitSwitchNormal forwardLimitSwitchNormal
 
LimitSwitchNormal reverseLimitSwitchNormal
 
FeedbackDevice sum0Term
 
FeedbackDevice sum1Term
 
FeedbackDevice diff0Term
 
FeedbackDevice diff1Term
 
- Public Attributes inherited from ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration
double openloopRamp
 
double closedloopRamp
 
double peakOutputForward
 
double peakOutputReverse
 
double nominalOutputForward
 
double nominalOutputReverse
 
double neutralDeadband
 
double voltageCompSaturation
 
int voltageMeasurementFilter
 
VelocityMeasPeriod velocityMeasurementPeriod
 
int velocityMeasurementWindow
 
double forwardSoftLimitThreshold
 
double reverseSoftLimitThreshold
 
bool forwardSoftLimitEnable
 
bool reverseSoftLimitEnable
 
SlotConfiguration slot0
 
SlotConfiguration slot1
 
SlotConfiguration slot2
 
SlotConfiguration slot3
 
bool auxPIDPolarity
 
FilterConfiguration remoteFilter0
 
FilterConfiguration remoteFilter1
 
double motionCruiseVelocity
 
double motionAcceleration
 
int motionCurveStrength
 
int motionProfileTrajectoryPeriod
 
bool feedbackNotContinuous
 
bool remoteSensorClosedLoopDisableNeutralOnLOS
 
bool clearPositionOnLimitF
 
bool clearPositionOnLimitR
 
bool clearPositionOnQuadIdx
 
bool limitSwitchDisableNeutralOnLOS
 
bool softLimitDisableNeutralOnLOS
 
int pulseWidthPeriod_EdgesPerRot
 
int pulseWidthPeriod_FilterWindowSz
 
bool trajectoryInterpolationEnable
 
- Public Attributes inherited from ctre::phoenix::CustomParamConfiguration
int customParam0
 
int customParam1
 
bool enableOptimizations
 

Detailed Description

Configurables available to BaseTalon

Member Function Documentation

◆ toString() [1/2]

std::string ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::toString ( )
inline
Returns
String representation of all the configs

◆ toString() [2/2]

std::string ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::toString ( std::string  prependString)
inline
Parameters
prependStringString to prepend to all the configs
Returns
String representation of all the configs

Member Data Documentation

◆ auxiliaryPID

BaseTalonPIDSetConfiguration ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::auxiliaryPID

Auxiliary PID configuration

◆ diff0Term

FeedbackDevice ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::diff0Term

Feedback Device for Diff 0 Term Note the FeedbackDevice enum holds all possible sensor types. Consult product documentation to confirm what is available. Alternatively the product specific enum can be used instead.

◆ diff1Term

FeedbackDevice ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::diff1Term

Feedback Device for Diff 1 Term Note the FeedbackDevice enum holds all possible sensor types. Consult product documentation to confirm what is available. Alternatively the product specific enum can be used instead.

◆ forwardLimitSwitchDeviceID

int ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::forwardLimitSwitchDeviceID

Forward limit switch device ID

Limit Switch device id isn't used unless device is a remote

◆ forwardLimitSwitchNormal

LimitSwitchNormal ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::forwardLimitSwitchNormal

Forward limit switch normally open/closed

◆ forwardLimitSwitchSource

LimitSwitchSource ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::forwardLimitSwitchSource

Forward Limit Switch Source

User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature

◆ primaryPID

BaseTalonPIDSetConfiguration ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::primaryPID

Primary PID configuration

◆ reverseLimitSwitchDeviceID

int ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::reverseLimitSwitchDeviceID

Reverse limit switch device ID

Limit Switch device id isn't used unless device is a remote

◆ reverseLimitSwitchNormal

LimitSwitchNormal ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::reverseLimitSwitchNormal

Reverse limit switch normally open/closed

◆ reverseLimitSwitchSource

LimitSwitchSource ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::reverseLimitSwitchSource

Reverse Limit Switch Source

User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature

◆ sum0Term

FeedbackDevice ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::sum0Term

Feedback Device for Sum 0 Term Note the FeedbackDevice enum holds all possible sensor types. Consult product documentation to confirm what is available. Alternatively the product specific enum can be used instead.

◆ sum1Term

FeedbackDevice ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::sum1Term

Feedback Device for Sum 1 Term Note the FeedbackDevice enum holds all possible sensor types. Consult product documentation to confirm what is available. Alternatively the product specific enum can be used instead.


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