ctre::phoenix::motorcontrol Namespace Reference

Namespaces
namespace	can
namespace	lowlevel

Classes
class	ControlFrameRoutines
class	DeviceCatalog
struct	Faults
class	FeedbackDeviceRoutines
class	GroupMotorControllers
class	IFollower
class	IMotorController
class	IMotorControllerEnhanced
class	LimitSwitchRoutines
class	RemoteSensorSourceRoutines
class	SensorCollection
class	SensorTermRoutines
struct	StatorCurrentLimitConfiguration
class	StatusFrameRoutines
struct	StickyFaults
struct	SupplyCurrentLimitConfiguration
class	TalonFXSensorCollection
class	TalonFXSimCollection
class	TalonSRXSimCollection
class	VelocityMeasPeriodRoutines
class	VictorSPXSimCollection
class	WPI_AutoFeedEnable

Enumerations
enum	ControlFrame { Control_3_General = 0x040080 , Control_4_Advanced = 0x0400C0 , Control_6_MotProfAddTrajPoint = 0x040140 }
enum	ControlFrameEnhanced { Control_3_General_ = 0x040080 , Control_4_Advanced_ = 0x0400c0 , Control_5_FeedbackOutputOverride_ = 0x040100 , Control_6_MotProfAddTrajPoint_ = 0x040140 }
enum class	ControlMode {   PercentOutput = 0 , Position = 1 , Velocity = 2 , Current = 3 ,   Follower = 5 , MotionProfile = 6 , MotionMagic = 7 , MotionProfileArc = 10 ,   MusicTone = 13 , Disabled = 15 }
enum class	TalonFXControlMode {   PercentOutput = 0 , Position = 1 , Velocity = 2 , Current = 3 ,   Follower = 5 , MotionProfile = 6 , MotionMagic = 7 , MotionProfileArc = 10 ,   MusicTone = 13 , Disabled = 15 }
enum class	TalonSRXControlMode {   PercentOutput = 0 , Position = 1 , Velocity = 2 , Current = 3 ,   Follower = 5 , MotionProfile = 6 , MotionMagic = 7 , MotionProfileArc = 10 ,   Disabled = 15 }
enum class	VictorSPXControlMode {   PercentOutput = 0 , Position = 1 , Velocity = 2 , Follower = 5 ,   MotionProfile = 6 , MotionMagic = 7 , MotionProfileArc = 10 , Disabled = 15 }
enum	DemandType { DemandType_Neutral = 0 , DemandType_AuxPID = 1 , DemandType_ArbitraryFeedForward = 2 }
enum class	FeedbackDevice {   QuadEncoder = 0 , IntegratedSensor = 1 , Analog = 2 , Tachometer = 4 ,   PulseWidthEncodedPosition = 8 , SensorSum = 9 , SensorDifference = 10 , RemoteSensor0 = 11 ,   RemoteSensor1 = 12 , None = 14 , SoftwareEmulatedSensor = 15 , CTRE_MagEncoder_Absolute = PulseWidthEncodedPosition ,   CTRE_MagEncoder_Relative = QuadEncoder }
enum class	TalonSRXFeedbackDevice {   QuadEncoder = 0 , Analog = 2 , Tachometer = 4 , PulseWidthEncodedPosition = 8 ,   SensorSum = 9 , SensorDifference = 10 , RemoteSensor0 = 11 , RemoteSensor1 = 12 ,   None = 14 , SoftwareEmulatedSensor = 15 , CTRE_MagEncoder_Absolute = PulseWidthEncodedPosition , CTRE_MagEncoder_Relative = QuadEncoder }
enum class	TalonFXFeedbackDevice {   IntegratedSensor = 1 , SensorSum = 9 , SensorDifference = 10 , RemoteSensor0 = 11 ,   RemoteSensor1 = 12 , None = 14 , SoftwareEmulatedSensor = 15 }
enum class	RemoteFeedbackDevice {   RemoteFeedbackDevice_FactoryDefaultOff = 0 , FactoryDefaultOff = RemoteFeedbackDevice_FactoryDefaultOff , RemoteFeedbackDevice_SensorSum = 9 , SensorSum = RemoteFeedbackDevice_SensorSum ,   RemoteFeedbackDevice_SensorDifference = 10 , SensorDifference = RemoteFeedbackDevice_SensorDifference , RemoteFeedbackDevice_RemoteSensor0 = 11 , RemoteSensor0 = RemoteFeedbackDevice_RemoteSensor0 ,   RemoteFeedbackDevice_RemoteSensor1 = 12 , RemoteSensor1 = RemoteFeedbackDevice_RemoteSensor1 , RemoteFeedbackDevice_None = 14 , None = RemoteFeedbackDevice_None ,   RemoteFeedbackDevice_SoftwareEmulatedSensor = 15 , SoftwareEmulatedSensor = RemoteFeedbackDevice_SoftwareEmulatedSensor }
enum	FollowerType { FollowerType_PercentOutput = 0 , FollowerType_AuxOutput1 }
enum class	InvertType { None = 0 , InvertMotorOutput = 1 , FollowMaster = 2 , OpposeMaster = 3 }
enum class	TalonFXInvertType { CounterClockwise = 0 , Clockwise = 1 , FollowMaster = 2 , OpposeMaster = 3 }
enum	LimitSwitchSource {   LimitSwitchSource_FeedbackConnector = 0 , LimitSwitchSource_RemoteTalon = 1 , LimitSwitchSource_RemoteTalonSRX = LimitSwitchSource_RemoteTalon , LimitSwitchSource_RemoteCANifier = 2 ,   LimitSwitchSource_Deactivated = 3 }
enum	RemoteLimitSwitchSource {   RemoteLimitSwitchSource_FactoryDefaultOff = 0 , RemoteLimitSwitchSource_RemoteTalon = 1 , RemoteLimitSwitchSource_RemoteTalonSRX = RemoteLimitSwitchSource_RemoteTalon , RemoteLimitSwitchSource_RemoteCANifier = 2 ,   RemoteLimitSwitchSource_Deactivated = 3 }
enum	LimitSwitchNormal { LimitSwitchNormal_NormallyOpen = 0 , LimitSwitchNormal_NormallyClosed = 1 , LimitSwitchNormal_Disabled = 2 }
enum class	MotorCommutation { Trapezoidal = 0 }
enum	NeutralMode { EEPROMSetting = 0 , Coast = 1 , Brake = 2 }
enum class	RemoteSensorSource {   RemoteSensorSource_Off , RemoteSensorSource_TalonSRX_SelectedSensor , RemoteSensorSource_Pigeon_Yaw , RemoteSensorSource_Pigeon_Pitch ,   RemoteSensorSource_Pigeon_Roll , RemoteSensorSource_CANifier_Quadrature , RemoteSensorSource_CANifier_PWMInput0 , RemoteSensorSource_CANifier_PWMInput1 ,   RemoteSensorSource_CANifier_PWMInput2 , RemoteSensorSource_CANifier_PWMInput3 , RemoteSensorSource_GadgeteerPigeon_Yaw , RemoteSensorSource_GadgeteerPigeon_Pitch ,   RemoteSensorSource_GadgeteerPigeon_Roll , RemoteSensorSource_CANCoder , RemoteSensorSource_TalonFX_SelectedSensor = RemoteSensorSource_TalonSRX_SelectedSensor }
enum class	SensorTerm { SensorTerm_Sum0 , SensorTerm_Sum1 , SensorTerm_Diff0 , SensorTerm_Diff1 }
enum	StatusFrameEnhanced {   Status_1_General = 0x1400 , Status_2_Feedback0 = 0x1440 , Status_4_AinTempVbat = 0x14C0 , Status_6_Misc = 0x1540 ,   Status_7_CommStatus = 0x1580 , Status_9_MotProfBuffer = 0x1600 , Status_10_MotionMagic = 0x1640 , Status_10_Targets = 0x1640 ,   Status_12_Feedback1 = 0x16C0 , Status_13_Base_PIDF0 = 0x1700 , Status_14_Turn_PIDF1 = 0x1740 , Status_15_FirmwareApiStatus = 0x1780 ,   Status_15_FirmareApiStatus = 0x1780 , Status_17_Targets1 = 0x1C00 , Status_3_Quadrature = 0x1480 , Status_8_PulseWidth = 0x15C0 ,   Status_11_UartGadgeteer = 0x1680 , Status_Brushless_Current = 0x1240 }
enum	StatusFrame {   Status_1_General_ = 0x1400 , Status_2_Feedback0_ = 0x1440 , Status_4_AinTempVbat_ = 0x14C0 , Status_6_Misc_ = 0x1540 ,   Status_7_CommStatus_ = 0x1580 , Status_9_MotProfBuffer_ = 0x1600 , Status_10_MotionMagic_ = 0x1640 , Status_10_Targets_ = 0x1640 ,   Status_12_Feedback1_ = 0x16C0 , Status_13_Base_PIDF0_ = 0x1700 , Status_14_Turn_PIDF1_ = 0x1740 , Status_15_FirmareApiStatus_ = 0x1780 ,   Status_17_Targets1_ = 0x1C00 }
enum	VelocityMeasPeriod {   Period_1Ms = 1 , Period_2Ms = 2 , Period_5Ms = 5 , Period_10Ms = 10 ,   Period_20Ms = 20 , Period_25Ms = 25 , Period_50Ms = 50 , Period_100Ms = 100 }

Detailed Description

namespace motorcontrol

Enumeration Type Documentation

ControlFrame

enum ctre::phoenix::motorcontrol::ControlFrame

Control Frames for motor controllers

Enumerator
Control_3_General	Control
Control_4_Advanced	Advanced Control
Control_6_MotProfAddTrajPoint	Trajectory points

ControlFrameEnhanced

enum ctre::phoenix::motorcontrol::ControlFrameEnhanced

Control Frames for enhanced motor controllers

Enumerator
Control_3_General_	Control
Control_4_Advanced_	Advanced Control
Control_5_FeedbackOutputOverride_	Override feedback output
Control_6_MotProfAddTrajPoint_	Trajectory points

ControlMode

enum class ctre::phoenix::motorcontrol::ControlMode

strong

Choose the control mode for a motor controller. Consult product specific documentation to determine what is available/supported.

Enumerator
PercentOutput	Percent output [-1,1]
Position	Position closed loop
Velocity	Velocity closed loop
Current	Input current closed loop
Follower	Follow other motor controller
MotionProfile	Motion Profile
MotionMagic	Motion Magic
MotionProfileArc	Motion Profile with auxiliary output
MusicTone	Plays a single tone. Frequency (hz) is passed into set.
Disabled	Disable Motor Controller

DemandType

enum ctre::phoenix::motorcontrol::DemandType

How to interpret a demand value.

Enumerator
DemandType_Neutral	Ignore the demand value and apply neutral/no-change.
DemandType_AuxPID	Target value of Aux PID loop 1. When closed-looping, set the target of the aux PID loop to the demand value. When following, follow the processed output of the combined primary/aux PID output of the master. The demand value is ignored. Although it is much cleaner to use the 2-param Follow() in such cases.
DemandType_ArbitraryFeedForward	Simply add to the output. When closed-looping, add demand arbitrarily to the closed-loop output.

FeedbackDevice

enum class ctre::phoenix::motorcontrol::FeedbackDevice

strong

Choose the feedback device for a motor controller. Consult product specific documentation to determine what is available/supported.

Enumerator
QuadEncoder	Quadrature encoder
IntegratedSensor	TalonFX supports an integrated sensor.
Analog	Analog potentiometer/encoder
Tachometer	Tachometer
PulseWidthEncodedPosition	CTRE Mag Encoder in Absolute mode or any other device that uses PWM to encode its output
SensorSum	Sum0 + Sum1
SensorDifference	Diff0 - Diff1
RemoteSensor0	Sensor configured in RemoteFilter0
RemoteSensor1	Sensor configured in RemoteFilter1
None	Position and velocity will read 0.
SoftwareEmulatedSensor	Motor Controller will fake a sensor based on applied motor output.
CTRE_MagEncoder_Absolute	CTR mag encoder configured in absolute, is the same as a PWM sensor.
CTRE_MagEncoder_Relative	CTR mag encoder configured in relative, is the same as an quadrature encoder sensor.

FollowerType

enum ctre::phoenix::motorcontrol::FollowerType

Choose the type of follower

Enumerator
FollowerType_PercentOutput	Follow the percentOutput the master is using
FollowerType_AuxOutput1	Follow the auxiliary output the master is calculating. Used for 2-axis control. This typically means apply PID0 - PID1 from master.

InvertType

enum class ctre::phoenix::motorcontrol::InvertType

strong

Choose the invert type of the motor controller. None is the equivalent of SetInverted(false), where positive request yields positive voltage on M+. InvertMotorOutput is the equivelant of SetInverted(true), where positive request yields positive voltage on M-. FollowMaster/OpposeMaster will match/oppose a master Talon/Victor. This requires device to be configured as a follower.

Enumerator
None	Same as SetInverted(false)
InvertMotorOutput	Same as SetInverted(true)
FollowMaster	Follow the invert of the master this MC is following.
OpposeMaster	Opposite of the invert of the master this MC is following.

LimitSwitchNormal

enum ctre::phoenix::motorcontrol::LimitSwitchNormal

Choose whether the limit switch is normally open or normally closed

Enumerator
LimitSwitchNormal_NormallyOpen	Limit Switch is tripped when the circuit is closed
LimitSwitchNormal_NormallyClosed	Limit Switch is tripped when the circuit is open
LimitSwitchNormal_Disabled	Limit switch is disabled

LimitSwitchSource

enum ctre::phoenix::motorcontrol::LimitSwitchSource

Limit switch source enum

Enumerator
LimitSwitchSource_FeedbackConnector	Limit switch directly connected to motor controller
LimitSwitchSource_RemoteTalon	Use Limit switch connected to Talon on CAN
LimitSwitchSource_RemoteTalonSRX	Use Limit switch connected to TalonSRX on CAN
LimitSwitchSource_RemoteCANifier	User Limit switch connected to CANifier
LimitSwitchSource_Deactivated	Don't use a limit switch

MotorCommutation

enum class ctre::phoenix::motorcontrol::MotorCommutation

strong

Choose the type of motor commutation. This is for products that support selectable commutation strategies.

Enumerator
Trapezoidal	Trapezoidal Commutation.

NeutralMode

enum ctre::phoenix::motorcontrol::NeutralMode

Choose the neutral mode for a motor controller

Enumerator
EEPROMSetting	Use the NeutralMode that is set in the MC's persistent storage.
Coast	When commanded to neutral, motor leads are set to high-impedance, allowing mechanism to coast.
Brake	When commanded to neutral, motor leads are commonized electrically to reduce motion.

RemoteFeedbackDevice

enum class ctre::phoenix::motorcontrol::RemoteFeedbackDevice

strong

Choose the remote feedback device for a motor controller.

Enumerator
RemoteFeedbackDevice_FactoryDefaultOff	[[deprecated("Use None instead.")]] Factory default setting for non-enhanced motor controllers
FactoryDefaultOff	[[deprecated("Use None instead.")]] Factory default setting for non-enhanced motor controllers
RemoteFeedbackDevice_SensorSum	[[deprecated("Use SensorSum instead.")]] Use Sum0 + Sum1
SensorSum	Use Sum0 + Sum1
RemoteFeedbackDevice_SensorDifference	[[deprecated("Use SensorDifference instead.")]] Use Diff0 - Diff1
SensorDifference	Use Diff0 - Diff1
RemoteFeedbackDevice_RemoteSensor0	[[deprecated("Use RemoteSensor0 instead.")]] Use the sensor configured in filter0
RemoteSensor0	Use the sensor configured in filter0
RemoteFeedbackDevice_RemoteSensor1	[[deprecated("Use RemoteSensor1 instead.")]] Use the sensor configured in filter1
RemoteSensor1	Use the sensor configured in filter1
RemoteFeedbackDevice_None	[[deprecated("Use None instead.")]] Position and velocity will read 0.
None	Position and velocity will read 0.
RemoteFeedbackDevice_SoftwareEmulatedSensor	[[deprecated("Use SoftwareEmulatedSensor instead.")]] Motor Controller will fake a sensor based on applied motor output.
SoftwareEmulatedSensor	Motor Controller will fake a sensor based on applied motor output.

RemoteLimitSwitchSource

enum ctre::phoenix::motorcontrol::RemoteLimitSwitchSource

Remote Limit switch source enum

Enumerator
RemoteLimitSwitchSource_FactoryDefaultOff	Don't use limit switch, this is the factory default value
RemoteLimitSwitchSource_RemoteTalon	Use Limit switch connected to Talon on CAN
RemoteLimitSwitchSource_RemoteTalonSRX	Use Limit switch connected to TalonSRX on CAN
RemoteLimitSwitchSource_RemoteCANifier	User Limit switch connected to CANifier
RemoteLimitSwitchSource_Deactivated	Don't use a limit switch

RemoteSensorSource

enum class ctre::phoenix::motorcontrol::RemoteSensorSource

strong

Choose the remote sensor source for a motor controller

Enumerator
RemoteSensorSource_Off	Don't use a sensor
RemoteSensorSource_TalonSRX_SelectedSensor	Use a sensor connected to a TalonSRX and configured on the TalonSRX
RemoteSensorSource_Pigeon_Yaw	Use a CAN Pigeon's Yaw value
RemoteSensorSource_Pigeon_Pitch	Use a CAN Pigeon's Pitch value
RemoteSensorSource_Pigeon_Roll	Use a CAN Pigeon's Roll value
RemoteSensorSource_CANifier_Quadrature	Use a quadrature sensor connected to a CANifier
RemoteSensorSource_CANifier_PWMInput0	Use a PWM sensor connected to CANifier's PWM0
RemoteSensorSource_CANifier_PWMInput1	Use a PWM sensor connected to CANifier's PWM1
RemoteSensorSource_CANifier_PWMInput2	Use a PWM sensor connected to CANifier's PWM2
RemoteSensorSource_CANifier_PWMInput3	Use a PWM sensor connected to CANifier's PWM3
RemoteSensorSource_GadgeteerPigeon_Yaw	Use the yaw value of a pigeon connected to a talon over ribbon cable
RemoteSensorSource_GadgeteerPigeon_Pitch	Use the pitch value of a pigeon connected to a talon over ribbon cable
RemoteSensorSource_GadgeteerPigeon_Roll	Use the roll value of a pigeon connected to a talon over ribbon cable
RemoteSensorSource_CANCoder	Use CANCoder
RemoteSensorSource_TalonFX_SelectedSensor	Remote Sensor Source 14 is reserved Use a sensor connected to a TalonFX and configured on the TalonFX

SensorTerm

enum class ctre::phoenix::motorcontrol::SensorTerm

strong

Choose the sensor term for a motor controller

Enumerator
SensorTerm_Sum0	Choose Sum0 for a term
SensorTerm_Sum1	Choose Sum1 for a term
SensorTerm_Diff0	Choose Diff0 for a term
SensorTerm_Diff1	Choose Diff1 for a term

StatusFrame

enum ctre::phoenix::motorcontrol::StatusFrame

The different status frames available to motor controllers

Enumerator
Status_1_General_	General Status
Status_2_Feedback0_	Main controller feedback
Status_4_AinTempVbat_	Analog sensor, motor controller temperature, and voltage at input leads
Status_6_Misc_	Miscellaneous signals
Status_7_CommStatus_	Communication status to controller
Status_9_MotProfBuffer_	Motion profile buffer status
Status_10_MotionMagic_	Old name for Status 10. Use See also Status_10_Targets instead.
Status_10_Targets_	Correct name for Status 10. Functionally equivalent to See also Status_10_MotionMagic
Status_12_Feedback1_	Secondary controller feedback
Status_13_Base_PIDF0_	Base PID
Status_14_Turn_PIDF1_	Auxiliary PID
Status_15_FirmareApiStatus_	Firmware & API status information
Status_17_Targets1_	MotionProfile Targets for Auxiliary PID1.

StatusFrameEnhanced

enum ctre::phoenix::motorcontrol::StatusFrameEnhanced

The different status frames available to enhanced motor controllers

Enumerator
Status_1_General	General Status
Status_2_Feedback0	Feedback for selected sensor on primary PID[0].
Status_4_AinTempVbat	Analog sensor, motor controller temperature, and voltage at input leads
Status_6_Misc	Miscellaneous signals
Status_7_CommStatus	Communication status
Status_9_MotProfBuffer	Motion profile buffer status
Status_10_MotionMagic	Old name for Status 10. Use See also Status_10_Targets instead.
Status_10_Targets	Correct name for Status 10. Functionally equivalent to See also Status_10_MotionMagic
Status_12_Feedback1	Feedback for selected sensor on aux PID[1].
Status_13_Base_PIDF0	Primary PID
Status_14_Turn_PIDF1	Auxiliary PID
Status_15_FirmwareApiStatus	Firmware & API status information
Status_15_FirmareApiStatus	Firmware & API status information [[deprecated("Use Status_15_FirmwareApiStatus instead.")]]
Status_17_Targets1	MotionProfile Targets for Auxiliary PID1.
Status_3_Quadrature	Quadrature sensor
Status_8_PulseWidth	Pulse width sensor
Status_11_UartGadgeteer	Gadgeteer status
Status_Brushless_Current	Brushless Current Status. Includes Stator and Supply Current for Talon FX.

TalonFXControlMode

enum class ctre::phoenix::motorcontrol::TalonFXControlMode

strong

Choose the control mode for a TalonFX / Falcon 500.

Enumerator
PercentOutput	Percent output [-1,1]
Position	Position closed loop
Velocity	Velocity closed loop
Current	Input current closed loop
Follower	Follow other motor controller
MotionProfile	Motion Profile
MotionMagic	Motion Magic
MotionProfileArc	Motion Profile with auxiliary output
MusicTone	Plays a single tone. Frequency (hz) is passed into set.
Disabled	Disable Motor Controller

TalonFXFeedbackDevice

enum class ctre::phoenix::motorcontrol::TalonFXFeedbackDevice

strong

Choose the feedback device for a Talon FX/Falcon 500.

Enumerator
IntegratedSensor	TalonFX supports an integrated sensor.
SensorSum	Sum0 + Sum1
SensorDifference	Diff0 - Diff1
RemoteSensor0	Sensor configured in RemoteFilter0
RemoteSensor1	Sensor configured in RemoteFilter1
None	Position and velocity will read 0.
SoftwareEmulatedSensor	Motor Controller will fake a sensor based on applied motor output.

TalonFXInvertType

enum class ctre::phoenix::motorcontrol::TalonFXInvertType

strong

Choose the invert type for a Talon FX based integrated motor controller. CCW is the equivalent of SetInverted(false), CW is the equivalent of SetInverted(true). FollowMaster/OpposeMaster will match/oppose a master Talon/Victor. This requires device to be configured as a follower.

Enumerator
CounterClockwise	Same as SetInverted(false)
Clockwise	Same as SetInverted(true)
FollowMaster	Follow the invert of the master this MC is following.
OpposeMaster	Opposite of the invert of the master this MC is following.

TalonSRXControlMode

enum class ctre::phoenix::motorcontrol::TalonSRXControlMode

strong

Choose the control mode for a Talon SRX.

Enumerator
PercentOutput	Percent output [-1,1]
Position	Position closed loop
Velocity	Velocity closed loop
Current	Input current closed loop
Follower	Follow other motor controller
MotionProfile	Motion Profile
MotionMagic	Motion Magic
MotionProfileArc	Motion Profile with auxiliary output
Disabled	Disable Motor Controller

TalonSRXFeedbackDevice

enum class ctre::phoenix::motorcontrol::TalonSRXFeedbackDevice

strong

Choose the feedback device for a Talon SRX

Enumerator
QuadEncoder	Quadrature encoder
Analog	Analog potentiometer/encoder
Tachometer	Tachometer
PulseWidthEncodedPosition	CTRE Mag Encoder in Absolute mode or any other device that uses PWM to encode its output
SensorSum	Sum0 + Sum1
SensorDifference	Diff0 - Diff1
RemoteSensor0	Sensor configured in RemoteFilter0
RemoteSensor1	Sensor configured in RemoteFilter1
None	Position and velocity will read 0.
SoftwareEmulatedSensor	Motor Controller will fake a sensor based on applied motor output.
CTRE_MagEncoder_Absolute	CTR mag encoder configured in absolute, is the same as a PWM sensor.
CTRE_MagEncoder_Relative	CTR mag encoder configured in relative, is the same as an quadrature encoder sensor.

VelocityMeasPeriod

enum ctre::phoenix::motorcontrol::VelocityMeasPeriod

Velocity Measurement Periods

Enumerator
Period_1Ms	1ms measurement period
Period_2Ms	2ms measurement period
Period_5Ms	5ms measurement period
Period_10Ms	10ms measurement period
Period_20Ms	20ms measurement period
Period_25Ms	25ms measurement period
Period_50Ms	50ms measurement period
Period_100Ms	100ms measurement period

VictorSPXControlMode

enum class ctre::phoenix::motorcontrol::VictorSPXControlMode

strong

Choose the control mode for a Victor SPX.

Enumerator
PercentOutput	Percent output [-1,1]
Position	Position closed loop
Velocity	Velocity closed loop
Follower	Follow other motor controller
MotionProfile	Motion Profile
MotionMagic	Motion Magic
MotionProfileArc	Motion Profile with auxiliary output
Disabled	Disable Motor Controller