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

#include <TalonFX.h>

Inherits ctre::phoenix::motorcontrol::can::BaseTalonConfiguration.

Public Member Functions

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

SupplyCurrentLimitConfiguration supplyCurrLimit
 
StatorCurrentLimitConfiguration statorCurrLimit
 
ctre::phoenix::motorcontrol::MotorCommutation motorCommutation = ctre::phoenix::motorcontrol::MotorCommutation::Trapezoidal
 
ctre::phoenix::sensors::AbsoluteSensorRange absoluteSensorRange = ctre::phoenix::sensors::AbsoluteSensorRange::Unsigned_0_to_360
 
double integratedSensorOffsetDegrees = 0
 
ctre::phoenix::sensors::SensorInitializationStrategy initializationStrategy = ctre::phoenix::sensors::SensorInitializationStrategy::BootToZero
 
- Public Attributes inherited from ctre::phoenix::motorcontrol::can::BaseTalonConfiguration
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 TalonFX

Member Function Documentation

◆ toString() [1/2]

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

◆ toString() [2/2]

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

Member Data Documentation

◆ absoluteSensorRange

ctre::phoenix::sensors::AbsoluteSensorRange ctre::phoenix::motorcontrol::can::TalonFXConfiguration::absoluteSensorRange = ctre::phoenix::sensors::AbsoluteSensorRange::Unsigned_0_to_360

Desired Sign / Range for the absolute position register. Choose unsigned for an absolute range of[0, +1) rotations, [0, 360) deg, etc. Choose signed for an absolute range of[-0.5, +0.5) rotations, [-180, +180) deg, etc.

◆ initializationStrategy

ctre::phoenix::sensors::SensorInitializationStrategy ctre::phoenix::motorcontrol::can::TalonFXConfiguration::initializationStrategy = ctre::phoenix::sensors::SensorInitializationStrategy::BootToZero

The sensor initialization strategy to use.This will impact the behavior the next time device boots up.

Pick the strategy on how to initialize the "Position" register. Depending on the mechanism, it may be desirable to auto set the Position register to match the Absolute Position(swerve for example). Or it may be desired to zero the sensor on boot(drivetrain translation sensor or a relative servo).

TIP: Tuner's self-test feature will report what the boot sensor value will be in the event the device is reset.

◆ integratedSensorOffsetDegrees

double ctre::phoenix::motorcontrol::can::TalonFXConfiguration::integratedSensorOffsetDegrees = 0

Adjusts the zero point for the absolute position register. The absolute position of the sensor will always have a discontinuity (360 -> 0 deg) or (+180 -> -180) and a hard-limited mechanism may have such a discontinuity in its functional range. In which case use this config to move the discontinuity outside of the function range.

◆ motorCommutation

ctre::phoenix::motorcontrol::MotorCommutation ctre::phoenix::motorcontrol::can::TalonFXConfiguration::motorCommutation = ctre::phoenix::motorcontrol::MotorCommutation::Trapezoidal

Choose the type of motor commutation.

◆ statorCurrLimit

StatorCurrentLimitConfiguration ctre::phoenix::motorcontrol::can::TalonFXConfiguration::statorCurrLimit

Stator-side current limiting. This is typically used to limit acceleration/torque and heat generation.

◆ supplyCurrLimit

SupplyCurrentLimitConfiguration ctre::phoenix::motorcontrol::can::TalonFXConfiguration::supplyCurrLimit

Supply-side current limiting. This is typically used to prevent breakers from tripping.


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