ctre::phoenix::motorcontrol::TalonSRXSimCollection Class Reference

#include <TalonSRXSimCollection.h>

Public Member Functions
	TalonSRXSimCollection (ctre::phoenix::motorcontrol::can::BaseTalon &motorController)
ErrorCode	GetLastError ()
double	GetMotorOutputLeadVoltage ()
ErrorCode	SetBusVoltage (double vbat)
ErrorCode	SetSupplyCurrent (double currA)
ErrorCode	SetStatorCurrent (double currA)
ErrorCode	SetLimitFwd (bool isClosed)
ErrorCode	SetLimitRev (bool isClosed)
ErrorCode	SetAnalogPosition (int newPos)
ErrorCode	AddAnalogPosition (int dPos)
ErrorCode	SetAnalogVelocity (int newVel)
ErrorCode	SetPulseWidthConnected (bool isConnected)
ErrorCode	SetPulseWidthRiseToRiseUs (double periodUs)
ErrorCode	SetPulseWidthPosition (int newPos)
ErrorCode	AddPulseWidthPosition (int dPos)
ErrorCode	SetPulseWidthVelocity (int newVel)
ErrorCode	SetQuadratureRawPosition (int newPos)
ErrorCode	AddQuadraturePosition (int dPos)
ErrorCode	SetQuadratureVelocity (int newVel)

Detailed Description

Collection of simulation commands available to a TalonSRX motor controller.

Use the getSimCollection() routine inside your motor controller to create the respective sim collection.

Constructor & Destructor Documentation

TalonSRXSimCollection()

ctre::phoenix::motorcontrol::TalonSRXSimCollection::TalonSRXSimCollection

(

ctre::phoenix::motorcontrol::can::BaseTalon &

motorController

)

Constructor for TalonSRXSimCollection

Parameters

motorController

TalonSRX Motor Controller to connect Collection to

Member Function Documentation

AddAnalogPosition()

ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::AddAnalogPosition

(

int

dPos

)

Adds to the simulated analog position of the TalonSRX.

Parameters

dPos	the change in position in native units

Returns

error code

AddPulseWidthPosition()

ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::AddPulseWidthPosition

(

int

dPos

)

Adds to the simulated pulse width position of the TalonSRX.

Parameters

dPos	the change in position in native units

Returns

error code

AddQuadraturePosition()

ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::AddQuadraturePosition

(

int

dPos

)

Adds to the simulated quadrature position of the TalonSRX.

Parameters

dPos	the change in position in native units

Returns

error code

GetLastError()

ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::GetLastError

(

)

Gets the last error generated by this object. Not all functions return an error code but can potentially report errors. This function can be used to retrieve those error codes.

Returns

Last Error Code generated by a function.

GetMotorOutputLeadVoltage()

double ctre::phoenix::motorcontrol::TalonSRXSimCollection::GetMotorOutputLeadVoltage

(

)

Gets the simulated output voltage across M+ and M- for the motor.

Returns

applied voltage to the motor in volts

SetAnalogPosition()

ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetAnalogPosition

(

int

newPos

)

Sets the simulated analog position of the TalonSRX.

Parameters

newPos

the new position in native units

Returns

error code

SetAnalogVelocity()

ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetAnalogVelocity

(

int

newVel

)

Sets the simulated analog velocity of the TalonSRX.

Parameters

newVel

the new velocity in native units per 100ms

Returns

error code

SetBusVoltage()

ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetBusVoltage

(

double

vbat

)

Sets the simulated bus voltage of the TalonSRX.

The minimum allowed bus voltage is 4 V - values below this will be promoted to 4 V.

Parameters

vbat	the bus voltage in volts

Returns

error code

SetLimitFwd()

ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetLimitFwd

(

bool

isClosed

)

Sets the simulated forward limit switch of the TalonSRX.

Parameters

isClosed

true if the limit switch is closed

Returns

error code

SetLimitRev()

ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetLimitRev

(

bool

isClosed

)

Sets the simulated reverse limit switch of the TalonSRX.

Parameters

isClosed

true if the limit switch is closed

Returns

error code

SetPulseWidthConnected()

ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetPulseWidthConnected

(

bool

isConnected

)

Sets if the simulated pulse width sensor is connected to the TalonSRX.

Parameters

isConnected

true if the pulse width sensor is connected

Returns

error code

SetPulseWidthPosition()

ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetPulseWidthPosition

(

int

newPos

)

Sets the simulated pulse width position of the TalonSRX.

Parameters

newPos

the new position in native units

Returns

error code

SetPulseWidthRiseToRiseUs()

ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetPulseWidthRiseToRiseUs

(

double

periodUs

)

Sets the simulated pulse width rise to rise time of the TalonSRX.

Parameters

periodUs

the pulse width rise to rise time in microseconds

Returns

error code

SetPulseWidthVelocity()

ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetPulseWidthVelocity

(

int

newVel

)

Sets the simulated pulse width velocity of the TalonSRX.

Parameters

newVel

the new velocity in native units per 100ms

Returns

error code

SetQuadratureRawPosition()

ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetQuadratureRawPosition

(

int

newPos

)

Sets the simulated raw quadrature position of the TalonSRX.

The TalonSRX integrates this to calculate the true reported quadrature position.

When using the WPI Sim GUI, you will notice a readonly 'position' and settable 'rawPositionInput'. The readonly signal is the emulated position which will match self-test in Tuner and the hardware API. Changes to 'rawPositionInput' will be integrated into the emulated position. This way a simulator can modify the position without overriding your hardware API calls for home-ing your sensor.

Inputs to this function over time should be continuous, as user calls of SetSelectedSensorPosition() and SetQuadraturePosition() will be accounted for in the calculation.

Parameters

newPos

the new raw position in native units

Returns

error code

SetQuadratureVelocity()

ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetQuadratureVelocity

(

int

newVel

)

Sets the simulated quadrature velocity of the TalonSRX.

Parameters

newVel

the new velocity in native units per 100ms

Returns

error code

SetStatorCurrent()

ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetStatorCurrent

(

double

currA

)

Sets the simulated stator current of the TalonSRX.

Parameters

currA

the stator current in amps

Returns

error code

SetSupplyCurrent()

ErrorCode ctre::phoenix::motorcontrol::TalonSRXSimCollection::SetSupplyCurrent

(

double

currA

)

Sets the simulated supply current of the TalonSRX.

Parameters

currA

the supply current in amps

Returns

error code

---

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

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