#include <WPI_TalonSRX.h>

Inherits ctre::phoenix::motorcontrol::can::TalonSRX, and ctre::phoenix::motorcontrol::can::WPI_BaseMotorController.

Public Member Functions
	WPI_TalonSRX (int deviceNumber)

	WPI_TalonSRX (WPI_TalonSRX const &)=delete

WPI_TalonSRX &	operator= (WPI_TalonSRX const &)=delete

virtual void	Set (double value)

virtual void	Set (ControlMode mode, double value)

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

virtual void	Set (TalonSRXControlMode mode, double value)

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

virtual void	SetVoltage (units::volt_t output)

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)

Public Member Functions inherited from ctre::phoenix::motorcontrol::can::TalonSRX
	TalonSRX (int deviceNumber)

	TalonSRX (TalonSRX const &)=delete

TalonSRX &	operator= (TalonSRX const &)=delete

void	Set (TalonSRXControlMode mode, double value)

void	Set (TalonSRXControlMode mode, double demand0, DemandType demand1Type, double demand1)

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

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

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

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

ctre::phoenix::ErrorCode	ConfigPeakCurrentLimit (int amps, int timeoutMs=0)

ctre::phoenix::ErrorCode	ConfigPeakCurrentDuration (int milliseconds, int timeoutMs=0)

ctre::phoenix::ErrorCode	ConfigContinuousCurrentLimit (int amps, int timeoutMs=0)

void	EnableCurrentLimit (bool enable)

ctre::phoenix::motorcontrol::SensorCollection &	GetSensorCollection ()

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

ctre::phoenix::ErrorCode	ConfigurePID (const TalonSRXPIDSetConfiguration &pid, int pidIdx=0, int timeoutMs=50)

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

ctre::phoenix::ErrorCode	ConfigAllSettings (const TalonSRXConfiguration &allConfigs, int timeoutMs=50)

void	GetAllConfigs (TalonSRXConfiguration &allConfigs, int timeoutMs=50)

virtual void	Set (ControlMode mode, double value)

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

Public Member Functions inherited from ctre::phoenix::motorcontrol::can::BaseTalon
	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

Public Member Functions inherited from ctre::phoenix::motorcontrol::can::WPI_BaseMotorController
	WPI_BaseMotorController (int deviceNumber, const char *model)

	WPI_BaseMotorController (WPI_BaseMotorController const &)=delete

WPI_BaseMotorController &	operator= (WPI_BaseMotorController const &)=delete

virtual void	Set (double speed)

virtual double	Get () const

virtual void	Set (ControlMode mode, double value)

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

virtual void	SetVoltage (units::volt_t output)

virtual void	SetInverted (bool isInverted)

virtual void	SetInverted (InvertType invertType)

virtual bool	GetInverted () const

virtual void	Disable ()

virtual void	StopMotor () override

std::string	GetDescription () const override

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

Protected Member Functions inherited from ctre::phoenix::motorcontrol::can::BaseTalon
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 ()

Protected Member Functions inherited from ctre::phoenix::motorcontrol::can::WPI_BaseMotorController
virtual void	InitSendable (wpi::SendableBuilder &builder)

Detailed Description

CTRE Talon SRX Motor Controller when used on CAN Bus.

Constructor & Destructor Documentation

◆ WPI_TalonSRX()

ctre::phoenix::motorcontrol::can::WPI_TalonSRX::WPI_TalonSRX ( int deviceNumber )

Constructor for a WPI_TalonSRX

Parameters

deviceNumber Device ID of TalonSRX

Member Function Documentation

◆ ConfigSelectedFeedbackSensor() [1/2]

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

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.

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

◆ ConfigSelectedFeedbackSensor() [2/2]

virtual ctre::phoenix::ErrorCode ctre::phoenix::motorcontrol::can::WPI_TalonSRX::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::TalonSRX.

◆ Set() [1/3]

virtual void ctre::phoenix::motorcontrol::can::WPI_TalonSRX::Set	(	ControlMode	mode,
		double	demand0,
		DemandType	demand1Type,
		double	demand1
	)

virtual

Parameters

mode	Sets the appropriate output on the talon, depending on the mode.
demand0	The output value to apply. such as advanced feed forward and/or auxiliary close-looping in firmware. In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped. In Current mode, output value is in amperes. In Velocity mode, output value is in position change / 100ms. In Position mode, output value is in encoder ticks or an analog value, depending on the sensor. See In Follower mode, the output value is the integer device ID of the talon to duplicate.
demand1Type	The demand type for demand1. Neutral: Ignore demand1 and apply no change to the demand0 output. AuxPID: Use demand1 to set the target for the auxiliary PID 1. Auxiliary PID is always executed as standard Position PID control. ArbitraryFeedForward: Use demand1 as an arbitrary additive value to the demand0 output. In PercentOutput the demand0 output is the motor output, and in closed-loop modes the demand0 output is the output of PID0.
demand1	Supplmental output value. AuxPID: Target position in Sensor Units ArbitraryFeedForward: Percent Output between -1.0 and 1.0

Arcade Drive Example: _talonLeft.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, +joyTurn); _talonRght.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, -joyTurn);

Drive Straight Example: Note: Selected Sensor Configuration is necessary for both PID0 and PID1. _talonLeft.follow(_talonRght, FollwerType.AuxOutput1); _talonRght.set(ControlMode.PercentOutput, joyForward, DemandType.AuxPID, desiredRobotHeading);

Drive Straight to a Distance Example: Note: Other configurations (sensor selection, PID gains, etc.) need to be set. _talonLeft.follow(_talonRght, FollwerType.AuxOutput1); _talonRght.set(ControlMode.MotionMagic, targetDistance, DemandType.AuxPID, desiredRobotHeading);

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

◆ Set() [2/3]

virtual void ctre::phoenix::motorcontrol::can::WPI_TalonSRX::Set	(	ControlMode	mode,
		double	value
	)

virtual

Sets the appropriate output on the talon, depending on the mode.

Parameters

mode	The output mode to apply. In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped. In Current mode, output value is in amperes. In Velocity mode, output value is in position change / 100ms. In Position mode, output value is in encoder ticks or an analog value, depending on the sensor. In Follower mode, the output value is the integer device ID of the talon to duplicate.
value	The setpoint value, as described above.

Standard Driving Example: _talonLeft.set(ControlMode.PercentOutput, leftJoy); _talonRght.set(ControlMode.PercentOutput, rghtJoy);

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

◆ Set() [3/3]

virtual void ctre::phoenix::motorcontrol::can::WPI_TalonSRX::Set ( double speed )

virtual

Common interface for setting the speed of a simple speed controller.

Parameters

speed The speed to set. Value should be between -1.0 and 1.0. Value is also saved for Get().

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

◆ SetInverted() [1/2]

virtual void ctre::phoenix::motorcontrol::can::WPI_TalonSRX::SetInverted ( bool isInverted )

virtual

Common interface for inverting direction of a speed controller.

Parameters

isInverted The state of inversion, true is inverted.

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

◆ SetInverted() [2/2]

virtual void ctre::phoenix::motorcontrol::can::WPI_TalonSRX::SetInverted ( InvertType invertType )

virtual

Common interface for inverting direction of a speed controller.

Parameters

invertType The invert strategy to use. Follower controllers that mirror/oppose the master controller should use this method.

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

◆ SetVoltage()

virtual void ctre::phoenix::motorcontrol::can::WPI_TalonSRX::SetVoltage ( units::volt_t output )

virtual

Sets the voltage output of the SpeedController. Compensates for the current bus voltage to ensure that the desired voltage is output even if the battery voltage is below 12V - highly useful when the voltage outputs are "meaningful" (e.g. they come from a feedforward calculation).

NOTE: This function must be called regularly in order for voltage compensation to work properly - unlike the ordinary set function, it is not "set it and forget it."

Parameters

output The voltage to output.

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

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

Phoenix-wpiapi/cpp/src/main/native/include/ctre/phoenix/motorcontrol/can/WPI_TalonSRX.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WPI_TalonSRX()

Member Function Documentation

◆ ConfigSelectedFeedbackSensor() [1/2]

◆ ConfigSelectedFeedbackSensor() [2/2]

◆ Set() [1/3]

◆ Set() [2/3]

◆ Set() [3/3]

◆ SetInverted() [1/2]

◆ SetInverted() [2/2]

◆ SetVoltage()