#include <BaseMotorController.h>

Inherits ctre::phoenix::CustomParamConfiguration.

Inherited by ctre::phoenix::motorcontrol::can::BaseTalonConfiguration, and ctre::phoenix::motorcontrol::can::VictorSPXConfiguration.

Public Member Functions
std::string	toString ()

std::string	toString (std::string prependString)

Public Member Functions inherited from ctre::phoenix::CustomParamConfiguration
std::string	toString ()

std::string	toString (std::string prependString)

Public Attributes
double	openloopRamp

double	closedloopRamp

double	peakOutputForward

double	peakOutputReverse

double	nominalOutputForward

double	nominalOutputReverse

double	neutralDeadband

double	voltageCompSaturation

int	voltageMeasurementFilter

ctre::phoenix::sensors::SensorVelocityMeasPeriod	velocityMeasurementPeriod

int	velocityMeasurementWindow

double	forwardSoftLimitThreshold

double	reverseSoftLimitThreshold

bool	forwardSoftLimitEnable

bool	reverseSoftLimitEnable

SlotConfiguration	slot0

SlotConfiguration	slot1

SlotConfiguration	slot2

SlotConfiguration	slot3

bool	auxPIDPolarity

FilterConfiguration	remoteFilter0

FilterConfiguration	remoteFilter1

double	motionCruiseVelocity

double	motionAcceleration

int	motionCurveStrength

int	motionProfileTrajectoryPeriod

bool	feedbackNotContinuous

bool	remoteSensorClosedLoopDisableNeutralOnLOS

bool	clearPositionOnLimitF

bool	clearPositionOnLimitR

bool	clearPositionOnQuadIdx

bool	limitSwitchDisableNeutralOnLOS

bool	softLimitDisableNeutralOnLOS

int	pulseWidthPeriod_EdgesPerRot

int	pulseWidthPeriod_FilterWindowSz

bool	trajectoryInterpolationEnable

Public Attributes inherited from ctre::phoenix::CustomParamConfiguration
int	customParam0

int	customParam1

bool	enableOptimizations

Detailed Description

Configurables available to base motor controllers

Member Function Documentation

◆ toString() [1/2]

std::string ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::toString ( )

inline

Returns: String representation of configs

◆ toString() [2/2]

std::string ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::toString ( std::string prependString )

inline

Parameters

prependString String to prepend to configs

Returns: String representation of configs

Member Data Documentation

◆ auxPIDPolarity

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::auxPIDPolarity

PID polarity inversion

Standard Polarity: Primary Output = PID0 + PID1, Auxiliary Output = PID0 - PID1,

Inverted Polarity: Primary Output = PID0 - PID1, Auxiliary Output = PID0 + PID1,

◆ clearPositionOnLimitF

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::clearPositionOnLimitF

Clear the position on forward limit

◆ clearPositionOnLimitR

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::clearPositionOnLimitR

Clear the position on reverse limit

◆ clearPositionOnQuadIdx

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::clearPositionOnQuadIdx

Clear the position on index

◆ closedloopRamp

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::closedloopRamp

Seconds to go from 0 to full in closed loop

◆ feedbackNotContinuous

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::feedbackNotContinuous

Determine whether feedback sensor is continuous or not

◆ forwardSoftLimitEnable

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::forwardSoftLimitEnable

Enable forward soft limit

◆ forwardSoftLimitThreshold

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::forwardSoftLimitThreshold

Threshold for soft limits in forward direction (in raw sensor units)

◆ limitSwitchDisableNeutralOnLOS

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::limitSwitchDisableNeutralOnLOS

Disable neutral'ing the motor when remote limit switch is lost on CAN bus

◆ motionAcceleration

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::motionAcceleration

Motion Magic acceleration in (raw sensor units per 100 ms) per second.

◆ motionCruiseVelocity

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::motionCruiseVelocity

Motion Magic cruise velocity in raw sensor units per 100 ms.

◆ motionCurveStrength

int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::motionCurveStrength

Zero to use trapezoidal motion during motion magic. [1,8] for S-Curve, higher value for greater smoothing.

◆ motionProfileTrajectoryPeriod

int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::motionProfileTrajectoryPeriod

Motion profile base trajectory period in milliseconds.

The period specified in a trajectory point will be added on to this value

◆ neutralDeadband

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::neutralDeadband

Neutral deadband [0.001, 0.25]

◆ nominalOutputForward

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::nominalOutputForward

Nominal/Minimum output in forward direction [0,1]

◆ nominalOutputReverse

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::nominalOutputReverse

Nominal/Minimum output in reverse direction [-1,0]

◆ openloopRamp

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::openloopRamp

Seconds to go from 0 to full in open loop

◆ peakOutputForward

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::peakOutputForward

Peak output in forward direction [0,1]

◆ peakOutputReverse

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::peakOutputReverse

Peak output in reverse direction [-1,0]

◆ pulseWidthPeriod_EdgesPerRot

int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::pulseWidthPeriod_EdgesPerRot

Number of edges per rotation for a tachometer sensor

◆ pulseWidthPeriod_FilterWindowSz

int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::pulseWidthPeriod_FilterWindowSz

Desired window size for a tachometer sensor

◆ remoteFilter0

FilterConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::remoteFilter0

Configuration for RemoteFilter 0

◆ remoteFilter1

FilterConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::remoteFilter1

Configuration for RemoteFilter 1

◆ remoteSensorClosedLoopDisableNeutralOnLOS

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::remoteSensorClosedLoopDisableNeutralOnLOS

Disable neutral'ing the motor when remote sensor is lost on CAN bus

◆ reverseSoftLimitEnable

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::reverseSoftLimitEnable

Enable reverse soft limit

◆ reverseSoftLimitThreshold

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::reverseSoftLimitThreshold

Threshold for soft limits in reverse direction (in raw sensor units)

◆ slot0

SlotConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::slot0

Configuration for slot 0

◆ slot1

SlotConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::slot1

Configuration for slot 1

◆ slot2

SlotConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::slot2

Configuration for slot 2

◆ slot3

SlotConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::slot3

Configuration for slot 3

◆ softLimitDisableNeutralOnLOS

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::softLimitDisableNeutralOnLOS

Disable neutral'ing the motor when remote soft limit is lost on CAN bus

◆ trajectoryInterpolationEnable

bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::trajectoryInterpolationEnable

Enable motion profile trajectory point interpolation (defaults to true).

◆ velocityMeasurementPeriod

ctre::phoenix::sensors::SensorVelocityMeasPeriod ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::velocityMeasurementPeriod

Desired period for velocity measurement

◆ velocityMeasurementWindow

int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::velocityMeasurementWindow

Desired window for velocity measurement

◆ voltageCompSaturation

double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::voltageCompSaturation

This is the max voltage to apply to the hbridge when voltage compensation is enabled. For example, if 10 (volts) is specified and a TalonSRX is commanded to 0.5 (PercentOutput, closed-loop, etc) then the TalonSRX will attempt to apply a duty-cycle to produce 5V.

◆ voltageMeasurementFilter

int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::voltageMeasurementFilter

Number of samples in rolling average for voltage

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

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

Public Member Functions

Public Attributes