ctre::phoenix::motorcontrol::can::BaseTalonConfiguration Struct Reference

#include <BaseTalon.h>

Inherits ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration.

Inherited by ctre::phoenix::motorcontrol::can::TalonFXConfiguration, and ctre::phoenix::motorcontrol::can::TalonSRXConfiguration.

Public Member Functions
	BaseTalonConfiguration (FeedbackDevice defaultFeedbackDevice)
std::string	toString ()
std::string	toString (std::string prependString)
Public Member Functions inherited from ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration
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
BaseTalonPIDSetConfiguration	primaryPID
BaseTalonPIDSetConfiguration	auxiliaryPID
LimitSwitchSource	forwardLimitSwitchSource
LimitSwitchSource	reverseLimitSwitchSource
int	forwardLimitSwitchDeviceID
int	reverseLimitSwitchDeviceID
LimitSwitchNormal	forwardLimitSwitchNormal
LimitSwitchNormal	reverseLimitSwitchNormal
FeedbackDevice	sum0Term
FeedbackDevice	sum1Term
FeedbackDevice	diff0Term
FeedbackDevice	diff1Term
Public Attributes inherited from ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration
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 BaseTalon

Member Function Documentation

toString() [1/2]

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

inline

Returns

String representation of all the configs

toString() [2/2]

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

inline

Parameters

prependString

String to prepend to all the configs

Returns

String representation of all the configs

Member Data Documentation

auxiliaryPID

BaseTalonPIDSetConfiguration ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::auxiliaryPID

Auxiliary PID configuration

diff0Term

FeedbackDevice ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::diff0Term

Feedback Device for Diff 0 Term Note the FeedbackDevice enum holds all possible sensor types. Consult product documentation to confirm what is available. Alternatively the product specific enum can be used instead.

configs.diff0Term = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder;
configs.diff0Term = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor;

diff1Term

FeedbackDevice ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::diff1Term

Feedback Device for Diff 1 Term Note the FeedbackDevice enum holds all possible sensor types. Consult product documentation to confirm what is available. Alternatively the product specific enum can be used instead.

configs.diff1Term = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder;
configs.diff1Term = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor;

forwardLimitSwitchDeviceID

int ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::forwardLimitSwitchDeviceID

Forward limit switch device ID

Limit Switch device id isn't used unless device is a remote

forwardLimitSwitchNormal

LimitSwitchNormal ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::forwardLimitSwitchNormal

Forward limit switch normally open/closed

forwardLimitSwitchSource

LimitSwitchSource ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::forwardLimitSwitchSource

Forward Limit Switch Source

User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature

primaryPID

BaseTalonPIDSetConfiguration ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::primaryPID

Primary PID configuration

reverseLimitSwitchDeviceID

int ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::reverseLimitSwitchDeviceID

Reverse limit switch device ID

Limit Switch device id isn't used unless device is a remote

reverseLimitSwitchNormal

LimitSwitchNormal ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::reverseLimitSwitchNormal

Reverse limit switch normally open/closed

reverseLimitSwitchSource

LimitSwitchSource ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::reverseLimitSwitchSource

Reverse Limit Switch Source

User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature

sum0Term

FeedbackDevice ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::sum0Term

Feedback Device for Sum 0 Term Note the FeedbackDevice enum holds all possible sensor types. Consult product documentation to confirm what is available. Alternatively the product specific enum can be used instead.

configs.sum0Term = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder;
configs.sum0Term = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor;

sum1Term

FeedbackDevice ctre::phoenix::motorcontrol::can::BaseTalonConfiguration::sum1Term

Feedback Device for Sum 1 Term Note the FeedbackDevice enum holds all possible sensor types. Consult product documentation to confirm what is available. Alternatively the product specific enum can be used instead.

configs.sum1Term = (FeedbackDevice)TalonSRXFeedbackDevice::QuadEncoder;
configs.sum1Term = (FeedbackDevice)TalonFXFeedbackDevice::IntegratedSensor;

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

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