|
| TalonFX (int deviceNumber, std::string const &canbus="") |
|
| TalonFX (TalonFX const &)=delete |
|
TalonFX & | operator= (TalonFX const &)=delete |
|
void | Set (TalonFXControlMode mode, double value) |
|
void | Set (TalonFXControlMode mode, double demand0, DemandType demand1Type, double demand1) |
|
void | SetInverted (TalonFXInvertType invertType) |
|
ctre::phoenix::ErrorCode | ConfigSelectedFeedbackSensor (TalonFXFeedbackDevice feedbackDevice, int pidIdx=0, int timeoutMs=0) |
|
ctre::phoenix::ErrorCode | ConfigSupplyCurrentLimit (const ctre::phoenix::motorcontrol::SupplyCurrentLimitConfiguration &currLimitConfigs, int timeoutMs=50) |
|
ctre::phoenix::ErrorCode | ConfigStatorCurrentLimit (const ctre::phoenix::motorcontrol::StatorCurrentLimitConfiguration &currLimitConfigs, int timeoutMs=50) |
|
ctre::phoenix::ErrorCode | ConfigGetSupplyCurrentLimit (ctre::phoenix::motorcontrol::SupplyCurrentLimitConfiguration &currLimitConfigsToFill, int timeoutMs=50) |
|
ctre::phoenix::ErrorCode | ConfigGetStatorCurrentLimit (ctre::phoenix::motorcontrol::StatorCurrentLimitConfiguration &currLimitConfigsToFill, int timeoutMs=50) |
|
ctre::phoenix::motorcontrol::TalonFXSensorCollection & | GetSensorCollection () |
|
ctre::phoenix::motorcontrol::TalonFXSimCollection & | GetSimCollection () |
|
ctre::phoenix::ErrorCode | ConfigurePID (const TalonFXPIDSetConfiguration &pid, int pidIdx=0, int timeoutMs=50) |
|
void | GetPIDConfigs (TalonFXPIDSetConfiguration &pid, int pidIdx=0, int timeoutMs=50) |
|
ctre::phoenix::ErrorCode | ConfigAllSettings (const TalonFXConfiguration &allConfigs, int timeoutMs=50) |
|
void | GetAllConfigs (TalonFXConfiguration &allConfigs, int timeoutMs=50) |
|
ctre::phoenix::ErrorCode | ConfigMotorCommutation (ctre::phoenix::motorcontrol::MotorCommutation motorCommutation, int timeoutMs=0) |
|
ctre::phoenix::ErrorCode | ConfigGetMotorCommutation (ctre::phoenix::motorcontrol::MotorCommutation &motorCommutation, int timeoutMs=0) |
|
ErrorCode | ConfigIntegratedSensorAbsoluteRange (ctre::phoenix::sensors::AbsoluteSensorRange absoluteSensorRange, int timeoutMs=0) |
|
ErrorCode | ConfigIntegratedSensorOffset (double offsetDegrees, int timeoutMs=0) |
|
ErrorCode | ConfigIntegratedSensorInitializationStrategy (ctre::phoenix::sensors::SensorInitializationStrategy initializationStrategy, int timeoutMs=0) |
|
virtual void | Set (ControlMode mode, double value) |
|
virtual void | Set (ControlMode mode, double demand0, DemandType demand1Type, double demand1) |
|
virtual void | SetInverted (InvertType invertType) |
|
virtual void | SetInverted (bool bInvert) |
|
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) |
|
| 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 () |
|
| 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 |
|