Inherits com.ctre.phoenix.CustomParamConfiguration.

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

Public Member Functions
String	toString ()

String	toString (String prependString)

String	toString ()

String	toString (String prependString)

Public Attributes
double	openloopRamp

double	closedloopRamp

double	peakOutputForward

double	peakOutputReverse

double	nominalOutputForward

double	nominalOutputReverse

double	neutralDeadband

double	voltageCompSaturation

int	voltageMeasurementFilter

SensorVelocityMeasPeriod	velocityMeasurementPeriod

int	velocityMeasurementWindow

double	forwardSoftLimitThreshold

double	reverseSoftLimitThreshold

boolean	forwardSoftLimitEnable

boolean	reverseSoftLimitEnable

SlotConfiguration	slot0

SlotConfiguration	slot1

SlotConfiguration	slot2

SlotConfiguration	slot3

boolean	auxPIDPolarity

FilterConfiguration	remoteFilter0

FilterConfiguration	remoteFilter1

double	motionCruiseVelocity

double	motionAcceleration

int	motionCurveStrength

int	motionProfileTrajectoryPeriod

boolean	feedbackNotContinuous

boolean	remoteSensorClosedLoopDisableNeutralOnLOS

boolean	clearPositionOnLimitF

boolean	clearPositionOnLimitR

boolean	clearPositionOnQuadIdx

boolean	limitSwitchDisableNeutralOnLOS

boolean	softLimitDisableNeutralOnLOS

int	pulseWidthPeriod_EdgesPerRot

int	pulseWidthPeriod_FilterWindowSz

boolean	trajectoryInterpolationEnable

Public Attributes inherited from com.ctre.phoenix.CustomParamConfiguration
int	customParam0

int	customParam1

boolean	enableOptimizations

Detailed Description

Configurables available to base motor controllers

Member Function Documentation

◆ toString() [1/2]

String com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.toString ( )

inline

Returns: String representation of configs

Reimplemented from com.ctre.phoenix.CustomParamConfiguration.

Reimplemented in com.ctre.phoenix.motorcontrol.can.BaseTalonConfiguration, com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration, com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration, and com.ctre.phoenix.motorcontrol.can.VictorSPXConfiguration.

◆ toString() [2/2]

String com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.toString ( String prependString )

inline

Parameters

prependString String to prepend to configs

Returns: String representation of configs

Reimplemented from com.ctre.phoenix.CustomParamConfiguration.

Reimplemented in com.ctre.phoenix.motorcontrol.can.BaseTalonConfiguration, com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration, com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration, and com.ctre.phoenix.motorcontrol.can.VictorSPXConfiguration.

Member Data Documentation

◆ auxPIDPolarity

boolean com.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

boolean com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.clearPositionOnLimitF

Clear the position on forward limit

◆ clearPositionOnLimitR

boolean com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.clearPositionOnLimitR

Clear the position on reverse limit

◆ clearPositionOnQuadIdx

boolean com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.clearPositionOnQuadIdx

Clear the position on index

◆ closedloopRamp

double com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.closedloopRamp

Seconds to go from 0 to full in closed loop

◆ feedbackNotContinuous

boolean com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.feedbackNotContinuous

Determine whether feedback sensor is continuous or not

◆ forwardSoftLimitEnable

boolean com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.forwardSoftLimitEnable

Enable forward soft limit

◆ forwardSoftLimitThreshold

double com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.forwardSoftLimitThreshold

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

◆ limitSwitchDisableNeutralOnLOS

boolean com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.limitSwitchDisableNeutralOnLOS

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

◆ motionAcceleration

double com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.motionAcceleration

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

◆ motionCruiseVelocity

double com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.motionCruiseVelocity

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

◆ motionCurveStrength

int com.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 com.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 com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.neutralDeadband

Neutral deadband [0.001, 0.25]

◆ nominalOutputForward

double com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.nominalOutputForward

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

◆ nominalOutputReverse

double com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.nominalOutputReverse

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

◆ openloopRamp

double com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.openloopRamp

Seconds to go from 0 to full in open loop

◆ peakOutputForward

double com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.peakOutputForward

Peak output in forward direction [0,1]

◆ peakOutputReverse

double com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.peakOutputReverse

Peak output in reverse direction [-1,0]

◆ pulseWidthPeriod_EdgesPerRot

int com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.pulseWidthPeriod_EdgesPerRot

Number of edges per rotation for a tachometer sensor

◆ pulseWidthPeriod_FilterWindowSz

int com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.pulseWidthPeriod_FilterWindowSz

Desired window size for a tachometer sensor

◆ remoteFilter0

FilterConfiguration com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.remoteFilter0

Configuration for RemoteFilter 0

◆ remoteFilter1

FilterConfiguration com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.remoteFilter1

Configuration for RemoteFilter 1

◆ remoteSensorClosedLoopDisableNeutralOnLOS

boolean com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.remoteSensorClosedLoopDisableNeutralOnLOS

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

◆ reverseSoftLimitEnable

boolean com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.reverseSoftLimitEnable

Enable reverse soft limit

◆ reverseSoftLimitThreshold

double com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.reverseSoftLimitThreshold

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

◆ slot0

SlotConfiguration com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.slot0

Configuration for slot 0

◆ slot1

SlotConfiguration com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.slot1

Configuration for slot 1

◆ slot2

SlotConfiguration com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.slot2

Configuration for slot 2

◆ slot3

SlotConfiguration com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.slot3

Configuration for slot 3

◆ softLimitDisableNeutralOnLOS

boolean com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.softLimitDisableNeutralOnLOS

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

◆ trajectoryInterpolationEnable

boolean com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.trajectoryInterpolationEnable

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

◆ velocityMeasurementPeriod

SensorVelocityMeasPeriod com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.velocityMeasurementPeriod

Desired period for velocity measurement

◆ velocityMeasurementWindow

int com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.velocityMeasurementWindow

Desired window for velocity measurement

◆ voltageCompSaturation

double com.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 com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.voltageMeasurementFilter

Number of samples in rolling average for voltage

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

Phoenix-api/java/src/main/java/com/ctre/phoenix/motorcontrol/can/BaseMotorControllerConfiguration.java

Public Member Functions

Public Attributes