#include <IMotorControllerEnhanced.h>

Inherits ctre::phoenix::motorcontrol::IMotorController.

Inherited by ctre::phoenix::motorcontrol::can::BaseTalon [virtual].

Public Member Functions
virtual ErrorCode	ConfigSelectedFeedbackSensor (FeedbackDevice feedbackDevice, int pidIdx=0, int timeoutMs=0)=0

virtual ErrorCode	ConfigSelectedFeedbackSensor (RemoteFeedbackDevice feedbackDevice, int pidIdx=0, int timeoutMs=0)=0

virtual ErrorCode	ConfigSupplyCurrentLimit (const SupplyCurrentLimitConfiguration &currLimitConfigs, int timeoutMs=50)=0

virtual ErrorCode	SetStatusFramePeriod (StatusFrame frame, uint8_t periodMs, int timeoutMs=0)=0

virtual ErrorCode	SetStatusFramePeriod (StatusFrameEnhanced frame, uint8_t periodMs, int timeoutMs=0)=0

virtual int	GetStatusFramePeriod (StatusFrame frame, int timeoutMs=0)=0

virtual int	GetStatusFramePeriod (StatusFrameEnhanced frame, int timeoutMs=0)=0

virtual double	GetOutputCurrent ()=0

virtual ErrorCode	ConfigVelocityMeasurementPeriod (VelocityMeasPeriod period, int timeoutMs=0)=0

virtual ErrorCode	ConfigVelocityMeasurementWindow (int windowSize, int timeoutMs=0)=0

virtual ErrorCode	ConfigForwardLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs=0)=0

virtual ErrorCode	ConfigReverseLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs=0)=0

virtual ErrorCode	ConfigForwardLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int timeoutMs=0)=0

virtual ErrorCode	ConfigReverseLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int timeoutMs=0)=0

Public Member Functions inherited from ctre::phoenix::motorcontrol::IMotorController
virtual void	Set (ControlMode Mode, double demand)=0

virtual void	Set (ControlMode mode, double demand0, DemandType demand1Type, double demand1)=0

virtual void	NeutralOutput ()=0

virtual void	SetNeutralMode (NeutralMode neutralMode)=0

virtual void	SetSensorPhase (bool PhaseSensor)=0

virtual void	SetInverted (bool invert)=0

virtual void	SetInverted (InvertType invertType)=0

virtual bool	GetInverted () const =0

virtual ErrorCode	ConfigFactoryDefault (int timeout)=0

virtual ErrorCode	ConfigOpenloopRamp (double secondsFromNeutralToFull, int timeoutMs=0)=0

virtual ErrorCode	ConfigClosedloopRamp (double secondsFromNeutralToFull, int timeoutMs=0)=0

virtual ErrorCode	ConfigPeakOutputForward (double percentOut, int timeoutMs=0)=0

virtual ErrorCode	ConfigPeakOutputReverse (double percentOut, int timeoutMs=0)=0

virtual ErrorCode	ConfigNominalOutputForward (double percentOut, int timeoutMs=0)=0

virtual ErrorCode	ConfigNominalOutputReverse (double percentOut, int timeoutMs=0)=0

virtual ErrorCode	ConfigNeutralDeadband (double percentDeadband, int timeoutMs=0)=0

virtual ErrorCode	ConfigVoltageCompSaturation (double voltage, int timeoutMs=0)=0

virtual ErrorCode	ConfigVoltageMeasurementFilter (int filterWindowSamples, int timeoutMs=0)=0

virtual void	EnableVoltageCompensation (bool enable)=0

virtual bool	IsVoltageCompensationEnabled ()=0

virtual double	GetBusVoltage ()=0

virtual double	GetMotorOutputPercent ()=0

virtual double	GetMotorOutputVoltage ()=0

virtual double	GetTemperature ()=0

virtual ErrorCode	ConfigSelectedFeedbackSensor (RemoteFeedbackDevice feedbackDevice, int pidIdx=0, int timeoutMs=0)=0

virtual ErrorCode	ConfigSelectedFeedbackCoefficient (double coefficient, int pidIdx=0, int timeoutMs=0)=0

virtual ErrorCode	ConfigRemoteFeedbackFilter (int deviceID, RemoteSensorSource remoteSensorSource, int remoteOrdinal, int timeoutMs=0)=0

virtual ErrorCode	ConfigRemoteFeedbackFilter (ctre::phoenix::sensors::CANCoder &canCoderRef, int remoteOrdinal, int timeoutMs=0)=0

virtual ErrorCode	ConfigRemoteFeedbackFilter (ctre::phoenix::motorcontrol::can::BaseTalon &talonRef, int remoteOrdinal, int timeoutMs=0)=0

virtual ErrorCode	ConfigSensorTerm (SensorTerm sensorTerm, FeedbackDevice feedbackDevice, int timeoutMs=0)=0

virtual double	GetSelectedSensorPosition (int pidIdx=0)=0

virtual double	GetSelectedSensorVelocity (int pidIdx=0)=0

virtual ErrorCode	SetSelectedSensorPosition (double sensorPos, int pidIdx=0, int timeoutMs=50)=0

virtual ErrorCode	SetControlFramePeriod (ControlFrame frame, int periodMs)=0

virtual ErrorCode	SetStatusFramePeriod (StatusFrame frame, uint8_t periodMs, int timeoutMs=0)=0

virtual int	GetStatusFramePeriod (StatusFrame frame, int timeoutMs=0)=0

virtual ErrorCode	ConfigForwardLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs=0)=0

virtual ErrorCode	ConfigReverseLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs=0)=0

virtual void	OverrideLimitSwitchesEnable (bool enable)=0

virtual ErrorCode	ConfigForwardSoftLimitThreshold (double forwardSensorLimit, int timeoutMs=0)=0

virtual ErrorCode	ConfigReverseSoftLimitThreshold (double reverseSensorLimit, int timeoutMs=0)=0

virtual ErrorCode	ConfigForwardSoftLimitEnable (bool enable, int timeoutMs=0)=0

virtual ErrorCode	ConfigReverseSoftLimitEnable (bool enable, int timeoutMs=0)=0

virtual void	OverrideSoftLimitsEnable (bool enable)=0

virtual ErrorCode	Config_kP (int slotIdx, double value, int timeoutMs=0)=0

virtual ErrorCode	Config_kI (int slotIdx, double value, int timeoutMs=0)=0

virtual ErrorCode	Config_kD (int slotIdx, double value, int timeoutMs=0)=0

virtual ErrorCode	Config_kF (int slotIdx, double value, int timeoutMs=0)=0

virtual ErrorCode	Config_IntegralZone (int slotIdx, double izone, int timeoutMs=0)=0

virtual ErrorCode	ConfigAllowableClosedloopError (int slotIdx, double allowableCloseLoopError, int timeoutMs=0)=0

virtual ErrorCode	ConfigMaxIntegralAccumulator (int slotIdx, double iaccum, int timeoutMs=0)=0

virtual ErrorCode	ConfigClosedLoopPeakOutput (int slotIdx, double percentOut, int timeoutMs=0)=0

virtual ErrorCode	ConfigClosedLoopPeriod (int slotIdx, int loopTimeMs, int timeoutMs=0)=0

virtual ErrorCode	ConfigAuxPIDPolarity (bool invert, int timeoutMs=0)=0

virtual ErrorCode	SetIntegralAccumulator (double iaccum, int pidIdx=0, int timeoutMs=0)=0

virtual double	GetClosedLoopError (int pidIdx=0)=0

virtual double	GetIntegralAccumulator (int pidIdx=0)=0

virtual double	GetErrorDerivative (int pidIdx=0)=0

virtual ErrorCode	SelectProfileSlot (int slotIdx, int pidIdx)=0

virtual double	GetClosedLoopTarget (int pidIdx=0)=0

virtual double	GetActiveTrajectoryPosition (int pidIdx=0)=0

virtual double	GetActiveTrajectoryVelocity (int pidIdx=0)=0

virtual double	GetActiveTrajectoryArbFeedFwd (int pidIdx=0)=0

virtual ErrorCode	ConfigMotionCruiseVelocity (double sensorUnitsPer100ms, int timeoutMs=0)=0

virtual ErrorCode	ConfigMotionAcceleration (double sensorUnitsPer100msPerSec, int timeoutMs=0)=0

virtual ErrorCode	ConfigMotionSCurveStrength (int curveStrength, int timeoutMs)=0

virtual ErrorCode	ClearMotionProfileTrajectories ()=0

virtual int	GetMotionProfileTopLevelBufferCount ()=0

virtual ErrorCode	PushMotionProfileTrajectory (const ctre::phoenix::motion::TrajectoryPoint &trajPt)=0

virtual bool	IsMotionProfileTopLevelBufferFull ()=0

virtual void	ProcessMotionProfileBuffer ()=0

virtual ErrorCode	GetMotionProfileStatus (ctre::phoenix::motion::MotionProfileStatus &statusToFill)=0

virtual ErrorCode	ClearMotionProfileHasUnderrun (int timeoutMs=0)=0

virtual ErrorCode	ChangeMotionControlFramePeriod (int periodMs)=0

virtual ErrorCode	ConfigMotionProfileTrajectoryPeriod (int baseTrajDurationMs, int timeoutMs=0)=0

virtual ErrorCode	ConfigFeedbackNotContinuous (bool feedbackNotContinuous, int timeoutMs=0)=0

virtual ErrorCode	ConfigRemoteSensorClosedLoopDisableNeutralOnLOS (bool remoteSensorClosedLoopDisableNeutralOnLOS, int timeoutMs=0)=0

virtual ErrorCode	ConfigClearPositionOnLimitF (bool clearPositionOnLimitF, int timeoutMs=0)=0

virtual ErrorCode	ConfigClearPositionOnLimitR (bool clearPositionOnLimitR, int timeoutMs=0)=0

virtual ErrorCode	ConfigClearPositionOnQuadIdx (bool clearPositionOnQuadIdx, int timeoutMs=0)=0

virtual ErrorCode	ConfigLimitSwitchDisableNeutralOnLOS (bool limitSwitchDisableNeutralOnLOS, int timeoutMs=0)=0

virtual ErrorCode	ConfigSoftLimitDisableNeutralOnLOS (bool softLimitDisableNeutralOnLOS, int timeoutMs=0)=0

virtual ErrorCode	ConfigPulseWidthPeriod_EdgesPerRot (int pulseWidthPeriod_EdgesPerRot, int timeoutMs=0)=0

virtual ErrorCode	ConfigPulseWidthPeriod_FilterWindowSz (int pulseWidthPeriod_FilterWindowSz, int timeoutMs=0)=0

virtual ErrorCode	GetLastError ()=0

virtual ErrorCode	GetFaults (Faults &toFill)=0

virtual ErrorCode	GetStickyFaults (StickyFaults &toFill)=0

virtual ErrorCode	ClearStickyFaults (int timeoutMs=0)=0

virtual int	GetFirmwareVersion ()=0

virtual bool	HasResetOccurred ()=0

virtual ErrorCode	ConfigSetCustomParam (int newValue, int paramIndex, int timeoutMs=0)=0

virtual int	ConfigGetCustomParam (int paramIndex, int timeoutMs=0)=0

virtual ErrorCode	ConfigSetParameter (ParamEnum param, double value, uint8_t subValue, int ordinal, int timeoutMs=0)=0

virtual double	ConfigGetParameter (ParamEnum paramEnum, int ordinal, int timeoutMs=0)=0

virtual int	GetBaseID ()=0

virtual int	GetDeviceID ()=0

virtual ControlMode	GetControlMode ()=0

Public Member Functions inherited from ctre::phoenix::motorcontrol::IFollower
virtual void	Follow (ctre::phoenix::motorcontrol::IMotorController &masterToFollow)=0

virtual void	ValueUpdated ()=0

Detailed Description

Interface for enhanced motor controllers

Member Function Documentation

◆ ConfigForwardLimitSwitchSource() [1/2]

virtual ErrorCode ctre::phoenix::motorcontrol::IMotorControllerEnhanced::ConfigForwardLimitSwitchSource	(	LimitSwitchSource	type,
		LimitSwitchNormal	normalOpenOrClose,
		int	timeoutMs = `0`
	)

pure virtual

Configures the forward limit switch for a remote source. For example, a CAN motor controller may need to monitor the Limit-F pin of another Talon or CANifier.

Parameters

type	Remote limit switch source. User can choose between a remote Talon SRX, CANifier, or deactivate the feature.
normalOpenOrClose	Setting for normally open, normally closed, or disabled. This setting matches the Phoenix Tuner drop down.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ ConfigForwardLimitSwitchSource() [2/2]

virtual ErrorCode ctre::phoenix::motorcontrol::IMotorControllerEnhanced::ConfigForwardLimitSwitchSource	(	RemoteLimitSwitchSource	type,
		LimitSwitchNormal	normalOpenOrClose,
		int	deviceID,
		int	timeoutMs = `0`
	)

pure virtual

Configures the forward limit switch for a remote source. For example, a CAN motor controller may need to monitor the Limit-F pin of another Talon or CANifier.

Parameters

type	Remote limit switch source. User can choose between a remote Talon SRX, CANifier, or deactivate the feature.
normalOpenOrClose	Setting for normally open, normally closed, or disabled. This setting matches the Phoenix Tuner drop down.
deviceID	Device ID of remote source (Talon SRX or CANifier device ID).
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ ConfigReverseLimitSwitchSource() [1/2]

virtual ErrorCode ctre::phoenix::motorcontrol::IMotorControllerEnhanced::ConfigReverseLimitSwitchSource	(	LimitSwitchSource	type,
		LimitSwitchNormal	normalOpenOrClose,
		int	timeoutMs = `0`
	)

pure virtual

Configures the reverse limit switch for a remote source. For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon or CANifier.

Parameters

type	Remote limit switch source. User can choose between a remote Talon SRX, CANifier, or deactivate the feature.
normalOpenOrClose	Setting for normally open, normally closed, or disabled. This setting matches the Phoenix Tuner drop down.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ ConfigReverseLimitSwitchSource() [2/2]

virtual ErrorCode ctre::phoenix::motorcontrol::IMotorControllerEnhanced::ConfigReverseLimitSwitchSource	(	RemoteLimitSwitchSource	type,
		LimitSwitchNormal	normalOpenOrClose,
		int	deviceID,
		int	timeoutMs = `0`
	)

pure virtual

Configures the reverse limit switch for a remote source. For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon or CANifier.

Parameters

type	Remote limit switch source. User can choose between a remote Talon SRX, CANifier, or deactivate the feature.
normalOpenOrClose	Setting for normally open, normally closed, or disabled. This setting matches the Phoenix Tuner drop down.
deviceID	Device ID of remote source (Talon SRX or CANifier device ID).
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ ConfigSelectedFeedbackSensor() [1/2]

virtual ErrorCode ctre::phoenix::motorcontrol::IMotorControllerEnhanced::ConfigSelectedFeedbackSensor	(	FeedbackDevice	feedbackDevice,
		int	pidIdx = `0`,
		int	timeoutMs = `0`
	)

pure virtual

Select the feedback device for the motor controller.

Parameters

feedbackDevice	Feedback Device to select.
pidIdx	0 for Primary closed-loop. 1 for auxiliary closed-loop.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

Implemented in ctre::phoenix::motorcontrol::can::TalonSRX, ctre::phoenix::motorcontrol::can::BaseTalon, ctre::phoenix::motorcontrol::can::TalonFX, ctre::phoenix::motorcontrol::can::WPI_TalonFX, and ctre::phoenix::motorcontrol::can::WPI_TalonSRX.

◆ ConfigSelectedFeedbackSensor() [2/2]

virtual ErrorCode ctre::phoenix::motorcontrol::IMotorControllerEnhanced::ConfigSelectedFeedbackSensor	(	RemoteFeedbackDevice	feedbackDevice,
		int	pidIdx = `0`,
		int	timeoutMs = `0`
	)

pure virtual

Select the feedback device for the motor controller.

Parameters

feedbackDevice	Feedback Device to select.
pidIdx	0 for Primary closed-loop. 1 for auxiliary closed-loop.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

Implemented in ctre::phoenix::motorcontrol::can::TalonSRX, ctre::phoenix::motorcontrol::can::BaseTalon, ctre::phoenix::motorcontrol::can::TalonFX, ctre::phoenix::motorcontrol::can::WPI_TalonFX, and ctre::phoenix::motorcontrol::can::WPI_TalonSRX.

◆ ConfigSupplyCurrentLimit()

virtual ErrorCode ctre::phoenix::motorcontrol::IMotorControllerEnhanced::ConfigSupplyCurrentLimit	(	const SupplyCurrentLimitConfiguration &	currLimitConfigs,
		int	timeoutMs = `50`
	)

pure virtual

Configures the supply-side current limit.

Parameters

currLimitCfg	Current limit configuration
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

Implemented in ctre::phoenix::motorcontrol::can::TalonFX, ctre::phoenix::motorcontrol::can::BaseTalon, and ctre::phoenix::motorcontrol::can::TalonSRX.

◆ ConfigVelocityMeasurementPeriod()

virtual ErrorCode ctre::phoenix::motorcontrol::IMotorControllerEnhanced::ConfigVelocityMeasurementPeriod	(	VelocityMeasPeriod	period,
		int	timeoutMs = `0`
	)

pure virtual

Sets the period over which velocity measurements are taken.

Parameters

period Desired period for the velocity measurement.

See also: com.ctre.phoenix.motorcontrol.VelocityMeasPeriod

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigVelocityMeasurementWindow()

virtual ErrorCode ctre::phoenix::motorcontrol::IMotorControllerEnhanced::ConfigVelocityMeasurementWindow	(	int	windowSize,
		int	timeoutMs = `0`
	)

pure virtual

Sets the number of velocity samples used in the rolling average velocity measurement.

Parameters

windowSize	Number of samples in the rolling average of velocity measurement. Valid values are 1,2,4,8,16,32. If another value is specified, it will truncate to nearest support value.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ GetOutputCurrent()

virtual double ctre::phoenix::motorcontrol::IMotorControllerEnhanced::GetOutputCurrent ( )

pure virtual

Gets the output current of the motor controller. In the case of TalonSRX class, this routine returns supply current for legacy reasons. In order to get the "true" output current, call GetStatorCurrent(). In the case of TalonFX class, this routine returns the true output stator current.

[[deprecated("Use GetStatorCurrent/GetSupplyCurrent instead.")]]

Returns: The output current (in amps).

Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ GetStatusFramePeriod() [1/2]

virtual int ctre::phoenix::motorcontrol::IMotorControllerEnhanced::GetStatusFramePeriod	(	StatusFrame	frame,
		int	timeoutMs = `0`
	)

pure virtual

Gets the period of the given status frame.

Parameters

frame	Frame to get the period of.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Period of the given status frame.

Implements ctre::phoenix::motorcontrol::IMotorController.

Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ GetStatusFramePeriod() [2/2]

virtual int ctre::phoenix::motorcontrol::IMotorControllerEnhanced::GetStatusFramePeriod	(	StatusFrameEnhanced	frame,
		int	timeoutMs = `0`
	)

pure virtual

Gets the period of the given status frame.

Parameters

frame	Frame to get the period of.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Period of the given status frame.

Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ SetStatusFramePeriod() [1/2]

virtual ErrorCode ctre::phoenix::motorcontrol::IMotorControllerEnhanced::SetStatusFramePeriod	(	StatusFrame	frame,
		uint8_t	periodMs,
		int	timeoutMs = `0`
	)

pure virtual

Sets the period of the given status frame.

User ensure CAN Bus utilization is not high.

This setting is not persistent and is lost when device is reset. If this is a concern, calling application can use HasResetOccurred() to determine if the status frame needs to be reconfigured.

Parameters

frame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

Implements ctre::phoenix::motorcontrol::IMotorController.

Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.

◆ SetStatusFramePeriod() [2/2]

virtual ErrorCode ctre::phoenix::motorcontrol::IMotorControllerEnhanced::SetStatusFramePeriod	(	StatusFrameEnhanced	frame,
		uint8_t	periodMs,
		int	timeoutMs = `0`
	)

pure virtual

Sets the period of the given status frame.

User ensure CAN Bus utilization is not high.

This setting is not persistent and is lost when device is reset. If this is a concern, calling application can use HasResetOccurred() to determine if the status frame needs to be reconfigured.

Parameters

frame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

Implemented in ctre::phoenix::motorcontrol::can::BaseTalon.

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

Phoenix-api/cpp/src/main/native/include/ctre/phoenix/motorcontrol/IMotorControllerEnhanced.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ ConfigForwardLimitSwitchSource() [1/2]

◆ ConfigForwardLimitSwitchSource() [2/2]

◆ ConfigReverseLimitSwitchSource() [1/2]

◆ ConfigReverseLimitSwitchSource() [2/2]

◆ ConfigSelectedFeedbackSensor() [1/2]

◆ ConfigSelectedFeedbackSensor() [2/2]

◆ ConfigSupplyCurrentLimit()

◆ ConfigVelocityMeasurementPeriod()

◆ ConfigVelocityMeasurementWindow()

◆ GetOutputCurrent()

◆ GetStatusFramePeriod() [1/2]

◆ GetStatusFramePeriod() [2/2]

◆ SetStatusFramePeriod() [1/2]

◆ SetStatusFramePeriod() [2/2]