#include <BaseTalon.h>

Inherits ctre::phoenix::motorcontrol::can::BaseMotorController, and ctre::phoenix::motorcontrol::IMotorControllerEnhanced.

Inherited by ctre::phoenix::motorcontrol::can::TalonFX [virtual], and ctre::phoenix::motorcontrol::can::TalonSRX [virtual].

Public Member Functions
	BaseTalon (int deviceNumber, const char *model, std::string const &canbus="")

	BaseTalon (BaseTalon const &)=delete

BaseTalon &	operator= (BaseTalon const &)=delete

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

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

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

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

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

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

virtual double	GetOutputCurrent ()

double	GetStatorCurrent ()

double	GetSupplyCurrent ()

virtual ctre::phoenix::ErrorCode	ConfigVelocityMeasurementPeriod (ctre::phoenix::sensors::SensorVelocityMeasPeriod period, int timeoutMs=0)

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

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

virtual ctre::phoenix::ErrorCode	ConfigForwardLimitSwitchSource (LimitSwitchSource limitSwitchSource, LimitSwitchNormal normalOpenOrClose, int timeoutMs=0)

virtual ctre::phoenix::ErrorCode	ConfigForwardLimitSwitchSource (RemoteLimitSwitchSource limitSwitchSource, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs=0)

virtual ctre::phoenix::ErrorCode	ConfigReverseLimitSwitchSource (LimitSwitchSource limitSwitchSource, LimitSwitchNormal normalOpenOrClose, int timeoutMs=0)

virtual ctre::phoenix::ErrorCode	ConfigReverseLimitSwitchSource (RemoteLimitSwitchSource limitSwitchSource, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs=0)

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

int	IsFwdLimitSwitchClosed ()

int	IsRevLimitSwitchClosed ()

Public Member Functions inherited from ctre::phoenix::motorcontrol::can::BaseMotorController
	BaseMotorController (int deviceNumber, const char *model, std::string const &canbus="")

	BaseMotorController (BaseMotorController const &)=delete

BaseMotorController &	operator= (BaseMotorController const &)=delete

virtual int	GetDeviceID ()

virtual void	Set (ControlMode mode, double value)

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

virtual void	NeutralOutput ()

virtual void	SetNeutralMode (NeutralMode neutralMode)

virtual void	SetSensorPhase (bool PhaseSensor)

virtual void	SetInverted (bool invert)

virtual void	SetInverted (InvertType invertType)

virtual bool	GetInverted () const

virtual ctre::phoenix::ErrorCode	ConfigFactoryDefault (int timeoutMs=50)

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

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

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

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

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

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

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

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

virtual ctre::phoenix::ErrorCode	ConfigVoltageMeasurementFilter (int filterWindowSamples, int timeoutMs=0)

virtual void	EnableVoltageCompensation (bool enable)

virtual bool	IsVoltageCompensationEnabled ()

virtual double	GetBusVoltage ()

virtual double	GetMotorOutputPercent ()

virtual double	GetMotorOutputVoltage ()

virtual double	GetTemperature ()

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

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

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

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

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

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

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

virtual ctre::phoenix::ErrorCode	ConfigSensorTerm (SensorTerm sensorTerm, RemoteFeedbackDevice feedbackDevice, int timeoutMs=0)

virtual double	GetSelectedSensorPosition (int pidIdx=0)

virtual double	GetSelectedSensorVelocity (int pidIdx=0)

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

virtual ctre::phoenix::ErrorCode	SetControlFramePeriod (ControlFrame frame, int periodMs)

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

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

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

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

virtual ctre::phoenix::ErrorCode	ConfigVelocityMeasurementPeriod (ctre::phoenix::sensors::SensorVelocityMeasPeriod period, int timeoutMs=0)

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

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

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

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

void	OverrideLimitSwitchesEnable (bool enable)

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

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

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

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

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

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

virtual void	OverrideSoftLimitsEnable (bool enable)

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

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

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

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

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

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

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

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

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

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

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

virtual double	GetClosedLoopError (int pidIdx=0)

virtual double	GetIntegralAccumulator (int pidIdx=0)

virtual double	GetErrorDerivative (int pidIdx=0)

virtual ctre::phoenix::ErrorCode	SelectProfileSlot (int slotIdx, int pidIdx)

virtual double	GetClosedLoopTarget (int pidIdx=0)

virtual double	GetActiveTrajectoryPosition (int pidIdx=0)

virtual double	GetActiveTrajectoryVelocity (int pidIdx=0)

virtual double	GetActiveTrajectoryArbFeedFwd (int pidIdx=0)

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

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

virtual ctre::phoenix::ErrorCode	ConfigMotionSCurveStrength (int curveStrength, int timeoutMs=0)

virtual ErrorCode	ClearMotionProfileTrajectories ()

virtual int	GetMotionProfileTopLevelBufferCount ()

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

virtual ctre::phoenix::ErrorCode	StartMotionProfile (ctre::phoenix::motion::BufferedTrajectoryPointStream &stream, uint32_t minBufferedPts, ControlMode motionProfControlMode)
	Simple one-shot firing of a complete MP. Starting in 2019, MPs can be fired by building a Buffered Trajectory Point Stream, and calling this routine. More...

virtual bool	IsMotionProfileFinished ()
	Determine if running MP is complete. This requires using the StartMotionProfile routine to start the MP. That is because managing the trajectory points is now done in a background thread (if StartMotionProfile is called). More...

virtual bool	IsMotionProfileTopLevelBufferFull ()

virtual void	ProcessMotionProfileBuffer ()

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

virtual ctre::phoenix::ErrorCode	ClearMotionProfileHasUnderrun (int timeoutMs=0)

virtual ctre::phoenix::ErrorCode	ChangeMotionControlFramePeriod (int periodMs)

virtual ctre::phoenix::ErrorCode	ConfigMotionProfileTrajectoryPeriod (int baseTrajDurationMs, int timeoutMs=0)

virtual ctre::phoenix::ErrorCode	ConfigMotionProfileTrajectoryInterpolationEnable (bool enable, int timeoutMs=0)

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

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

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

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

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

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

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

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

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

virtual ctre::phoenix::ErrorCode	GetLastError ()

virtual ctre::phoenix::ErrorCode	GetFaults (Faults &toFill)

virtual ctre::phoenix::ErrorCode	GetStickyFaults (StickyFaults &toFill)

virtual ctre::phoenix::ErrorCode	ClearStickyFaults (int timeoutMs=0)

virtual int	GetFirmwareVersion ()

virtual bool	HasResetOccurred ()

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

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

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

virtual double	ConfigGetParameter (ctre::phoenix::ParamEnum param, int ordinal, int timeoutMs=0)

virtual ErrorCode	ConfigGetParameter (ParamEnum param, int32_t valueToSend, int32_t &valueReceived, uint8_t &subValue, int32_t ordinal, int32_t timeoutMs)

virtual int	GetBaseID ()

virtual ControlMode	GetControlMode ()

void	Follow (IMotorController &masterToFollow, ctre::phoenix::motorcontrol::FollowerType followerType)

virtual void	Follow (IMotorController &masterToFollow)

virtual void	ValueUpdated ()

void	GetSlotConfigs (SlotConfiguration &slot, int slotIdx=0, int timeoutMs=50)

void	GetFilterConfigs (FilterConfiguration &Filter, int ordinal=0, int timeoutMs=50)

void *	GetHandle ()

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

virtual void	Follow (ctre::phoenix::motorcontrol::IMotorController &masterToFollow)=0

virtual void	ValueUpdated ()=0

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

Protected Member Functions
ctre::phoenix::motorcontrol::SensorCollection &	GetTalonSRXSensorCollection ()

ctre::phoenix::motorcontrol::TalonFXSensorCollection &	GetTalonFXSensorCollection ()

ctre::phoenix::motorcontrol::TalonSRXSimCollection &	GetTalonSRXSimCollection ()

ctre::phoenix::motorcontrol::TalonFXSimCollection &	GetTalonFXSimCollection ()

ctre::phoenix::ErrorCode	ConfigurePID (const BaseTalonPIDSetConfiguration &pid, int pidIdx, int timeoutMs, bool enableOptimizations)

void	GetPIDConfigs (BaseTalonPIDSetConfiguration &pid, int pidIdx=0, int timeoutMs=50)

ctre::phoenix::ErrorCode	BaseTalonConfigAllSettings (const BaseTalonConfiguration &allConfigs, int timeoutMs=50)

void	BaseTalonGetAllConfigs (BaseTalonConfiguration &allConfigs, int timeoutMs=50)

Protected Member Functions inherited from ctre::phoenix::motorcontrol::can::BaseMotorController
ctre::phoenix::motorcontrol::VictorSPXSimCollection &	GetVictorSPXSimCollection ()

virtual ctre::phoenix::ErrorCode	BaseConfigAllSettings (const BaseMotorControllerConfiguration &allConfigs, int timeoutMs)

virtual void	BaseGetAllConfigs (BaseMotorControllerConfiguration &allConfigs, int timeoutMs)

virtual void	BaseGetPIDConfigs (BasePIDSetConfiguration &pid, int pidIdx, int timeoutMs)

virtual double	GetOutputCurrent ()

Additional Inherited Members
Static Public Member Functions inherited from ctre::phoenix::motorcontrol::can::BaseMotorController
static void	DestroyAllMotControllers ()

Detailed Description

CTRE Talon SRX Motor Controller when used on CAN Bus.

Constructor & Destructor Documentation

◆ BaseTalon()

ctre::phoenix::motorcontrol::can::BaseTalon::BaseTalon	(	int	deviceNumber,
		const char *	model,
		std::string const &	canbus = `""`
	)

Constructor for a Talon

Parameters

deviceNumber	CAN Device ID of BaseTalon
canbus	Name of the CANbus; can be a SocketCAN interface (on Linux), or a CANivore device name or serial number

Member Function Documentation

◆ BaseTalonConfigAllSettings()

ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::BaseTalonConfigAllSettings	(	const BaseTalonConfiguration &	allConfigs,
		int	timeoutMs = `50`
	)

protected

Configures all persistent settings.

Parameters

allConfigs	Object with all of the persistant settings
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.

◆ BaseTalonGetAllConfigs()

void ctre::phoenix::motorcontrol::can::BaseTalon::BaseTalonGetAllConfigs	(	BaseTalonConfiguration &	allConfigs,
		int	timeoutMs = `50`
	)

protected

Gets all persistant settings.

Parameters

allConfigs	Object with all of the persistant settings
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.

◆ ConfigForwardLimitSwitchSource() [1/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::ConfigForwardLimitSwitchSource	(	LimitSwitchSource	limitSwitchSource,
		LimitSwitchNormal	normalOpenOrClose,
		int	timeoutMs = `0`
	)

virtual

Configures a limit switch for a local/remote source.

For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon, CANifier, or local Gadgeteer feedback connector.

If the sensor is remote, a device ID of zero is assumed. If that's not desired, use the four parameter version of this function.

Parameters

limitSwitchSource	Limit switch source. User can choose between the feedback connector, 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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ ConfigForwardLimitSwitchSource() [2/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::ConfigForwardLimitSwitchSource	(	RemoteLimitSwitchSource	limitSwitchSource,
		LimitSwitchNormal	normalOpenOrClose,
		int	deviceID,
		int	timeoutMs = `0`
	)

virtual

Configures a limit switch for a local/remote source.

For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon, CANifier, or local Gadgeteer feedback connector.

If the sensor is remote, a device ID of zero is assumed. If that's not desired, use the four parameter version of this function.

Parameters

limitSwitchSource	Limit switch source. User can choose between the feedback connector, 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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ ConfigReverseLimitSwitchSource() [1/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::ConfigReverseLimitSwitchSource	(	LimitSwitchSource	limitSwitchSource,
		LimitSwitchNormal	normalOpenOrClose,
		int	timeoutMs = `0`
	)

virtual

Configures a limit switch for a local/remote source.

For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon, CANifier, or local Gadgeteer feedback connector.

If the sensor is remote, a device ID of zero is assumed. If that's not desired, use the four parameter version of this function.

Parameters

limitSwitchSource Limit switch source.

See also: LimitSwitchSource User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature.

Parameters

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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ ConfigReverseLimitSwitchSource() [2/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::ConfigReverseLimitSwitchSource	(	RemoteLimitSwitchSource	limitSwitchSource,
		LimitSwitchNormal	normalOpenOrClose,
		int	deviceID,
		int	timeoutMs = `0`
	)

virtual

Configures a limit switch for a local/remote source.

For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon, CANifier, or local Gadgeteer feedback connector.

If the sensor is remote, a device ID of zero is assumed. If that's not desired, use the four parameter version of this function.

Parameters

limitSwitchSource Limit switch source.

See also: LimitSwitchSource User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature.

Parameters

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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ ConfigSelectedFeedbackSensor() [1/2]

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

virtual

Select the remote feedback device for the motor controller. Most CTRE CAN motor controllers will support remote sensors over CAN.

Parameters

feedbackDevice	Remote 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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

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

◆ ConfigSelectedFeedbackSensor() [2/2]

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

virtual

Select the remote feedback device for the motor controller. Most CTRE CAN motor controllers will support remote sensors over CAN.

Parameters

feedbackDevice	Remote 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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

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

◆ ConfigSupplyCurrentLimit()

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

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.

Implements ctre::phoenix::motorcontrol::IMotorControllerEnhanced.

Reimplemented in ctre::phoenix::motorcontrol::can::TalonFX, and ctre::phoenix::motorcontrol::can::TalonSRX.

◆ ConfigVelocityMeasurementPeriod() [1/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::BaseTalon::ConfigVelocityMeasurementPeriod	(	ctre::phoenix::sensors::SensorVelocityMeasPeriod	period,
		int	timeoutMs = `0`
	)

virtual

Configures the period of each velocity sample. Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.

Parameters

period Desired period for the velocity measurement.

See also: #SensorVelocityMeasPeriod

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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ ConfigVelocityMeasurementPeriod() [2/2]

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

virtual

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ ConfigVelocityMeasurementWindow()

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

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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ GetOutputCurrent()

virtual double ctre::phoenix::motorcontrol::can::BaseTalon::GetOutputCurrent ( )

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).

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ GetPIDConfigs()

void ctre::phoenix::motorcontrol::can::BaseTalon::GetPIDConfigs	(	BaseTalonPIDSetConfiguration &	pid,
		int	pidIdx = `0`,
		int	timeoutMs = `50`
	)

protected

Gets all PID set persistant settings.

Parameters

pid	Object with all of the PID set persistant settings
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.

◆ GetStatorCurrent()

double ctre::phoenix::motorcontrol::can::BaseTalon::GetStatorCurrent ( )

Gets the stator/output current of the motor controller.

Returns: The stator/output current (in amps).

◆ GetStatusFramePeriod() [1/2]

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

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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ GetStatusFramePeriod() [2/2]

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

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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ GetSupplyCurrent()

double ctre::phoenix::motorcontrol::can::BaseTalon::GetSupplyCurrent ( )

Gets the supply/input current of the motor controller.

Returns: The supply/input current (in amps).

◆ IsFwdLimitSwitchClosed()

int ctre::phoenix::motorcontrol::can::BaseTalon::IsFwdLimitSwitchClosed ( )

Is forward limit switch closed.

Returns: '1' iff forward limit switch is closed, 0 iff switch is open. This function works regardless if limit switch feature is enabled. Remote limit features do not impact this routine.

◆ IsRevLimitSwitchClosed()

int ctre::phoenix::motorcontrol::can::BaseTalon::IsRevLimitSwitchClosed ( )

Is reverse limit switch closed.

Returns: '1' iff reverse limit switch is closed, 0 iff switch is open. This function works regardless if limit switch feature is enabled. Remote limit features do not impact this routine.

◆ SetStatusFramePeriod() [1/2]

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

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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

◆ SetStatusFramePeriod() [2/2]

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

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.

Reimplemented from ctre::phoenix::motorcontrol::can::BaseMotorController.

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

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BaseTalon()

Member Function Documentation

◆ BaseTalonConfigAllSettings()

◆ BaseTalonGetAllConfigs()

◆ ConfigForwardLimitSwitchSource() [1/2]

◆ ConfigForwardLimitSwitchSource() [2/2]

◆ ConfigReverseLimitSwitchSource() [1/2]

◆ ConfigReverseLimitSwitchSource() [2/2]

◆ ConfigSelectedFeedbackSensor() [1/2]

◆ ConfigSelectedFeedbackSensor() [2/2]

◆ ConfigSupplyCurrentLimit()

◆ ConfigVelocityMeasurementPeriod() [1/2]

◆ ConfigVelocityMeasurementPeriod() [2/2]

◆ ConfigVelocityMeasurementWindow()

◆ GetOutputCurrent()

◆ GetPIDConfigs()

◆ GetStatorCurrent()

◆ GetStatusFramePeriod() [1/2]

◆ GetStatusFramePeriod() [2/2]

◆ GetSupplyCurrent()

◆ IsFwdLimitSwitchClosed()

◆ IsRevLimitSwitchClosed()

◆ SetStatusFramePeriod() [1/2]

◆ SetStatusFramePeriod() [2/2]