com.ctre.phoenix.motorcontrol.SensorCollection Class Reference

Public Member Functions
	SensorCollection (BaseTalon motorController)
int	getAnalogIn ()
ErrorCode	setAnalogPosition (int newPosition, int timeoutMs)
int	getAnalogInRaw ()
int	getAnalogInVel ()
int	getQuadraturePosition ()
ErrorCode	setQuadraturePosition (int newPosition, int timeoutMs)
ErrorCode	syncQuadratureWithPulseWidth (int bookend0, int bookend1, boolean bCrossZeroOnInterval, int offset, int timeoutMs)
ErrorCode	syncQuadratureWithPulseWidth (int bookend0, int bookend1, boolean bCrossZeroOnInterval)
int	getQuadratureVelocity ()
int	getPulseWidthPosition ()
ErrorCode	setPulseWidthPosition (int newPosition, int timeoutMs)
int	getPulseWidthVelocity ()
int	getPulseWidthRiseToFallUs ()
int	getPulseWidthRiseToRiseUs ()
boolean	getPinStateQuadA ()
boolean	getPinStateQuadB ()
boolean	getPinStateQuadIdx ()
boolean	isFwdLimitSwitchClosed ()
boolean	isRevLimitSwitchClosed ()

Detailed Description

Collection of sensors available to a motor controller.

For best performance and update-rate, we recommend using the configSelectedFeedbackSensor() and getSelectedSensor*() routines. However there are occasions where accessing raw sensor values may be useful or convenient. Particularly if you are seeding one sensor based on another, or need to circumvent sensor-phase.

Use the getSensorCollection() routine inside your motor controller to create a sensor collection.

Constructor & Destructor Documentation

SensorCollection()

com.ctre.phoenix.motorcontrol.SensorCollection.SensorCollection ( BaseTalon  motorController )

inline

Constructor for SensorCollection

Parameters

motorController

Motor Controller to connect Collection to

Member Function Documentation

getAnalogIn()

int com.ctre.phoenix.motorcontrol.SensorCollection.getAnalogIn ( )

inline

Get the position of whatever is in the analog pin of the Talon, regardless of whether it is actually being used for feedback.

This method relies on the Status 4 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns

the 24bit analog value. The bottom ten bits is the ADC (0 - 1023) on the analog pin of the Talon. The upper 14 bits tracks the overflows and underflows (continuous sensor).

getAnalogInRaw()

int com.ctre.phoenix.motorcontrol.SensorCollection.getAnalogInRaw ( )

inline

Get the position of whatever is in the analog pin of the Talon, regardless of whether it is actually being used for feedback.

This method relies on the Status 4 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns

the ADC (0 - 1023) on analog pin of the Talon.

getAnalogInVel()

int com.ctre.phoenix.motorcontrol.SensorCollection.getAnalogInVel ( )

inline

Get the velocity of whatever is in the analog pin of the Talon, regardless of whether it is actually being used for feedback.

This method relies on the Status 4 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns

the speed in units per 100ms where 1024 units is one rotation.

getPinStateQuadA()

boolean com.ctre.phoenix.motorcontrol.SensorCollection.getPinStateQuadA ( )

inline

Gets pin state quad a.

This method relies on the Status 3 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns

the pin state of quad a (1 if asserted, 0 if not asserted).

getPinStateQuadB()

boolean com.ctre.phoenix.motorcontrol.SensorCollection.getPinStateQuadB ( )

inline

Gets pin state quad b.

This method relies on the Status 3 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns

Digital level of QUADB pin (1 if asserted, 0 if not asserted).

getPinStateQuadIdx()

boolean com.ctre.phoenix.motorcontrol.SensorCollection.getPinStateQuadIdx ( )

inline

Gets pin state quad index.

This method relies on the Status 3 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns

Digital level of QUAD Index pin (1 if asserted, 0 if not asserted).

getPulseWidthPosition()

int com.ctre.phoenix.motorcontrol.SensorCollection.getPulseWidthPosition ( )

inline

Gets pulse width position, regardless of whether it is actually being used for feedback.

This method relies on the Status 8 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns

the pulse width position.

getPulseWidthRiseToFallUs()

int com.ctre.phoenix.motorcontrol.SensorCollection.getPulseWidthRiseToFallUs ( )

inline

Gets pulse width rise to fall time.

This method relies on the Status 8 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns

the pulse width rise to fall time in microseconds.

getPulseWidthRiseToRiseUs()

int com.ctre.phoenix.motorcontrol.SensorCollection.getPulseWidthRiseToRiseUs ( )

inline

Gets pulse width rise to rise time.

This method relies on the Status 8 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns

the pulse width rise to rise time in microseconds.

getPulseWidthVelocity()

int com.ctre.phoenix.motorcontrol.SensorCollection.getPulseWidthVelocity ( )

inline

Gets pulse width velocity, regardless of whether it is actually being used for feedback.

This method relies on the Status 8 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns

the pulse width velocity in units per 100ms (where 4096 units is 1 rotation).

getQuadraturePosition()

int com.ctre.phoenix.motorcontrol.SensorCollection.getQuadraturePosition ( )

inline

Get the quadrature position of the Talon, regardless of whether it is actually being used for feedback.

This method relies on the Status 3 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns

the quadrature position.

getQuadratureVelocity()

int com.ctre.phoenix.motorcontrol.SensorCollection.getQuadratureVelocity ( )

inline

Get the quadrature velocity, regardless of whether it is actually being used for feedback.

This method relies on the Status 3 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns

the quadrature velocity in units per 100ms.

isFwdLimitSwitchClosed()

boolean com.ctre.phoenix.motorcontrol.SensorCollection.isFwdLimitSwitchClosed ( )

inline

Is forward limit switch closed.

This method relies on the Status 1 message, which has a default period of 10ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns

'1' iff forward limit switch is closed, 0 iff switch is open. This function works regardless if limit switch feature is enabled. Remote limit features do not impact this routine.

isRevLimitSwitchClosed()

boolean com.ctre.phoenix.motorcontrol.SensorCollection.isRevLimitSwitchClosed ( )

inline

Is reverse limit switch closed.

This method relies on the Status 1 message, which has a default period of 10ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

Returns

'1' iff reverse limit switch is closed, 0 iff switch is open. This function works regardless if limit switch feature is enabled. Remote limit features do not impact this routine.

setAnalogPosition()

ErrorCode com.ctre.phoenix.motorcontrol.SensorCollection.setAnalogPosition ( int  newPosition, int  timeoutMs  )

inline

Sets analog position.

Parameters

newPosition	The new position.
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

an ErrorCode.

setPulseWidthPosition()

ErrorCode com.ctre.phoenix.motorcontrol.SensorCollection.setPulseWidthPosition ( int  newPosition, int  timeoutMs  )

inline

Sets pulse width position.

Parameters

newPosition	The position value to apply to the sensor.
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

an ErrErrorCode

setQuadraturePosition()

ErrorCode com.ctre.phoenix.motorcontrol.SensorCollection.setQuadraturePosition ( int  newPosition, int  timeoutMs  )

inline

Change the quadrature reported position. Typically this is used to "zero" the sensor. This only works with Quadrature sensor. To set the selected sensor position regardless of what type it is, see SetSelectedSensorPosition in the motor controller class.

Parameters

newPosition	The position value to apply to the sensor.
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.

syncQuadratureWithPulseWidth() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.SensorCollection.syncQuadratureWithPulseWidth ( int  bookend0, int  bookend1, boolean  bCrossZeroOnInterval  )

inline

Change the quadrature reported position based on pulse width. This can be used to effectively make quadrature absolute. For rotary mechanisms with >360 movement (such as typical swerve modules) bookend0 and bookend1 can be both set to 0 and bCrossZeroOnInterval can be set to true. For mechanisms with less than 360 travel (such as arms), bookend0 and bookend1 should be set to the pulse width values at the two extremes. If the interval crosses over the pulse width value of 0 (or any multiple of 4096), bCrossZeroOnInterval should be true and otherwise should be false. An offset can also be set.

Parameters

bookend0	value at extreme 0
bookend1	value at extreme 1
bCrossZeroOnInterval	True iff zero/wrap-around cross occurs as mechanism moves from bookend0 to bookend1.

Returns

error code.

syncQuadratureWithPulseWidth() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.SensorCollection.syncQuadratureWithPulseWidth ( int  bookend0, int  bookend1, boolean  bCrossZeroOnInterval, int  offset, int  timeoutMs  )

inline

Change the quadrature reported position based on pulse width. This can be used to effectively make quadrature absolute. For rotary mechanisms with >360 movement (such as typical swerve modules) bookend0 and bookend1 can be both set to 0 and bCrossZeroOnInterval can be set to true. For mechanisms with less than 360 travel (such as arms), bookend0 and bookend1 should be set to the pulse width values at the two extremes. If the interval crosses over the pulse width value of 0 (or any multiple of 4096), bCrossZeroOnInterval should be true and otherwise should be false. An offset can also be set.

Parameters

bookend0	value at extreme 0
bookend1	value at extreme 1
bCrossZeroOnInterval	True iff zero/wrap-around cross occurs as mechanism moves from bookend0 to bookend1.
offset	(Optional) Value to add to pulse width
timeoutMs	(Optional) How long to wait for confirmation. Pass zero so that call does not block.

Returns

error code.

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

• Phoenix-api/java/src/main/java/com/ctre/phoenix/motorcontrol/SensorCollection.java