#include <TalonFX.h>

Inherits ctre::phoenix::motorcontrol::can::BaseTalonConfiguration.

Public Member Functions
std::string	toString ()

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

Public Member Functions inherited from ctre::phoenix::motorcontrol::can::BaseTalonConfiguration
	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
SupplyCurrentLimitConfiguration	supplyCurrLimit

StatorCurrentLimitConfiguration	statorCurrLimit

ctre::phoenix::motorcontrol::MotorCommutation	motorCommutation = ctre::phoenix::motorcontrol::MotorCommutation::Trapezoidal

ctre::phoenix::sensors::AbsoluteSensorRange	absoluteSensorRange = ctre::phoenix::sensors::AbsoluteSensorRange::Unsigned_0_to_360

double	integratedSensorOffsetDegrees = 0

ctre::phoenix::sensors::SensorInitializationStrategy	initializationStrategy = ctre::phoenix::sensors::SensorInitializationStrategy::BootToZero

Public Attributes inherited from ctre::phoenix::motorcontrol::can::BaseTalonConfiguration
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 TalonFX

Member Function Documentation

◆ toString() [1/2]

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

inline

Returns: String representation of all the configs

◆ toString() [2/2]

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

inline

Parameters

prependString String to prepend to all the configs

Returns: String representation of all the configs

Member Data Documentation

◆ absoluteSensorRange

ctre::phoenix::sensors::AbsoluteSensorRange ctre::phoenix::motorcontrol::can::TalonFXConfiguration::absoluteSensorRange = ctre::phoenix::sensors::AbsoluteSensorRange::Unsigned_0_to_360

Desired Sign / Range for the absolute position register. Choose unsigned for an absolute range of[0, +1) rotations, [0, 360) deg, etc. Choose signed for an absolute range of[-0.5, +0.5) rotations, [-180, +180) deg, etc.

◆ initializationStrategy

ctre::phoenix::sensors::SensorInitializationStrategy ctre::phoenix::motorcontrol::can::TalonFXConfiguration::initializationStrategy = ctre::phoenix::sensors::SensorInitializationStrategy::BootToZero

The sensor initialization strategy to use.This will impact the behavior the next time device boots up.

Pick the strategy on how to initialize the "Position" register. Depending on the mechanism, it may be desirable to auto set the Position register to match the Absolute Position(swerve for example). Or it may be desired to zero the sensor on boot(drivetrain translation sensor or a relative servo).

TIP: Tuner's self-test feature will report what the boot sensor value will be in the event the device is reset.

◆ integratedSensorOffsetDegrees

double ctre::phoenix::motorcontrol::can::TalonFXConfiguration::integratedSensorOffsetDegrees = 0

Adjusts the zero point for the absolute position register. The absolute position of the sensor will always have a discontinuity (360 -> 0 deg) or (+180 -> -180) and a hard-limited mechanism may have such a discontinuity in its functional range. In which case use this config to move the discontinuity outside of the function range.

◆ motorCommutation

ctre::phoenix::motorcontrol::MotorCommutation ctre::phoenix::motorcontrol::can::TalonFXConfiguration::motorCommutation = ctre::phoenix::motorcontrol::MotorCommutation::Trapezoidal

Choose the type of motor commutation.

◆ statorCurrLimit

StatorCurrentLimitConfiguration ctre::phoenix::motorcontrol::can::TalonFXConfiguration::statorCurrLimit

Stator-side current limiting. This is typically used to limit acceleration/torque and heat generation.

◆ supplyCurrLimit

SupplyCurrentLimitConfiguration ctre::phoenix::motorcontrol::can::TalonFXConfiguration::supplyCurrLimit

Supply-side current limiting. This is typically used to prevent breakers from tripping.

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

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

Public Member Functions

Public Attributes