Inherits com.ctre.phoenix.motorcontrol.can.BaseMotorController, and com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced.

Inherited by com.ctre.phoenix.motorcontrol.can.TalonFX, and com.ctre.phoenix.motorcontrol.can.TalonSRX.

Public Member Functions
	BaseTalon (int deviceNumber, String model, String canbus)

	BaseTalon (int deviceNumber, String model)

ErrorCode	setStatusFramePeriod (StatusFrameEnhanced frame, int periodMs, int timeoutMs)

ErrorCode	setStatusFramePeriod (StatusFrameEnhanced frame, int periodMs)

int	getStatusFramePeriod (StatusFrameEnhanced frame, int timeoutMs)

int	getStatusFramePeriod (StatusFrameEnhanced frame)

double	getOutputCurrent ()

double	getStatorCurrent ()

double	getSupplyCurrent ()

ErrorCode	configVelocityMeasurementPeriod (SensorVelocityMeasPeriod period, int timeoutMs)

ErrorCode	configVelocityMeasurementPeriod (VelocityMeasPeriod period, int timeoutMs)

ErrorCode	configVelocityMeasurementPeriod (SensorVelocityMeasPeriod period)

ErrorCode	configVelocityMeasurementPeriod (VelocityMeasPeriod period)

ErrorCode	configVelocityMeasurementWindow (int windowSize, int timeoutMs)

ErrorCode	configVelocityMeasurementWindow (int windowSize)

ErrorCode	configForwardLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int timeoutMs)

ErrorCode	configForwardLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose)

ErrorCode	configReverseLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int timeoutMs)

ErrorCode	configReverseLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose)

ErrorCode	configSupplyCurrentLimit (SupplyCurrentLimitConfiguration currLimitCfg, int timeoutMs)

int	isFwdLimitSwitchClosed ()

int	isRevLimitSwitchClosed ()

Public Member Functions inherited from com.ctre.phoenix.motorcontrol.can.BaseMotorController
	BaseMotorController (int arbId, String model, String canbus)

	BaseMotorController (int arbId, String model)

ErrorCode	DestroyObject ()

long	getHandle ()

int	getDeviceID ()

void	set (ControlMode mode, double outputValue)

void	set (ControlMode mode, double demand0, DemandType demand1Type, double demand1)

void	neutralOutput ()

void	setNeutralMode (NeutralMode neutralMode)

void	setSensorPhase (boolean PhaseSensor)

void	setInverted (boolean invert)

void	setInverted (InvertType invertType)

boolean	getInverted ()

ErrorCode	configFactoryDefault (int timeoutMs)

ErrorCode	configFactoryDefault ()

ErrorCode	configOpenloopRamp (double secondsFromNeutralToFull, int timeoutMs)

ErrorCode	configOpenloopRamp (double secondsFromNeutralToFull)

ErrorCode	configClosedloopRamp (double secondsFromNeutralToFull, int timeoutMs)

ErrorCode	configClosedloopRamp (double secondsFromNeutralToFull)

ErrorCode	configPeakOutputForward (double percentOut, int timeoutMs)

ErrorCode	configPeakOutputForward (double percentOut)

ErrorCode	configPeakOutputReverse (double percentOut, int timeoutMs)

ErrorCode	configPeakOutputReverse (double percentOut)

ErrorCode	configNominalOutputForward (double percentOut, int timeoutMs)

ErrorCode	configNominalOutputForward (double percentOut)

ErrorCode	configNominalOutputReverse (double percentOut, int timeoutMs)

ErrorCode	configNominalOutputReverse (double percentOut)

ErrorCode	configNeutralDeadband (double percentDeadband, int timeoutMs)

ErrorCode	configNeutralDeadband (double percentDeadband)

ErrorCode	configVoltageCompSaturation (double voltage, int timeoutMs)

ErrorCode	configVoltageCompSaturation (double voltage)

ErrorCode	configVoltageMeasurementFilter (int filterWindowSamples, int timeoutMs)

ErrorCode	configVoltageMeasurementFilter (int filterWindowSamples)

void	enableVoltageCompensation (boolean enable)

boolean	isVoltageCompensationEnabled ()

double	getBusVoltage ()

double	getMotorOutputPercent ()

double	getMotorOutputVoltage ()

double	getTemperature ()

ErrorCode	configSelectedFeedbackSensor (RemoteFeedbackDevice feedbackDevice, int pidIdx, int timeoutMs)

ErrorCode	configSelectedFeedbackSensor (RemoteFeedbackDevice feedbackDevice)

ErrorCode	configSelectedFeedbackSensor (FeedbackDevice feedbackDevice, int pidIdx, int timeoutMs)

ErrorCode	configSelectedFeedbackSensor (FeedbackDevice feedbackDevice)

ErrorCode	configSelectedFeedbackCoefficient (double coefficient, int pidIdx, int timeoutMs)

ErrorCode	configSelectedFeedbackCoefficient (double coefficient)

ErrorCode	configRemoteFeedbackFilter (int deviceID, RemoteSensorSource remoteSensorSource, int remoteOrdinal, int timeoutMs)

ErrorCode	configRemoteFeedbackFilter (int deviceID, RemoteSensorSource remoteSensorSource, int remoteOrdinal)

ErrorCode	configRemoteFeedbackFilter (CANCoder canCoderRef, int remoteOrdinal, int timeoutMs)

ErrorCode	configRemoteFeedbackFilter (CANCoder canCoderRef, int remoteOrdinal)

ErrorCode	configRemoteFeedbackFilter (BaseTalon talonRef, int remoteOrdinal, int timeoutMs)

ErrorCode	configRemoteFeedbackFilter (BaseTalon talonRef, int remoteOrdinal)

ErrorCode	configSensorTerm (SensorTerm sensorTerm, FeedbackDevice feedbackDevice, int timeoutMs)

ErrorCode	configSensorTerm (SensorTerm sensorTerm, FeedbackDevice feedbackDevice)

ErrorCode	configSensorTerm (SensorTerm sensorTerm, RemoteFeedbackDevice feedbackDevice, int timeoutMs)

ErrorCode	configSensorTerm (SensorTerm sensorTerm, RemoteFeedbackDevice feedbackDevice)

double	getSelectedSensorPosition (int pidIdx)

double	getSelectedSensorPosition ()

double	getSelectedSensorVelocity (int pidIdx)

double	getSelectedSensorVelocity ()

ErrorCode	setSelectedSensorPosition (double sensorPos, int pidIdx, int timeoutMs)

ErrorCode	setSelectedSensorPosition (double sensorPos)

ErrorCode	setControlFramePeriod (ControlFrame frame, int periodMs)

ErrorCode	setControlFramePeriod (int frame, int periodMs)

ErrorCode	setStatusFramePeriod (int frameValue, int periodMs, int timeoutMs)

ErrorCode	setStatusFramePeriod (int frameValue, int periodMs)

ErrorCode	setStatusFramePeriod (StatusFrame frame, int periodMs, int timeoutMs)

ErrorCode	setStatusFramePeriod (StatusFrame frame, int periodMs)

int	getStatusFramePeriod (int frame, int timeoutMs)

int	getStatusFramePeriod (int frame)

int	getStatusFramePeriod (StatusFrame frame, int timeoutMs)

int	getStatusFramePeriod (StatusFrame frame)

int	getStatusFramePeriod (StatusFrameEnhanced frame, int timeoutMs)

int	getStatusFramePeriod (StatusFrameEnhanced frame)

ErrorCode	configVelocityMeasurementPeriod (SensorVelocityMeasPeriod period, int timeoutMs)

ErrorCode	configVelocityMeasurementPeriod (VelocityMeasPeriod period, int timeoutMs)

ErrorCode	configVelocityMeasurementPeriod (SensorVelocityMeasPeriod period)

ErrorCode	configVelocityMeasurementPeriod (VelocityMeasPeriod period)

ErrorCode	configVelocityMeasurementWindow (int windowSize, int timeoutMs)

ErrorCode	configVelocityMeasurementWindow (int windowSize)

ErrorCode	configForwardLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs)

ErrorCode	configForwardLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID)

ErrorCode	configReverseLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs)

ErrorCode	configReverseLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID)

ErrorCode	configForwardLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int timeoutMs)

ErrorCode	configForwardLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose)

void	overrideLimitSwitchesEnable (boolean enable)

ErrorCode	configForwardSoftLimitThreshold (double forwardSensorLimit, int timeoutMs)

ErrorCode	configForwardSoftLimitThreshold (double forwardSensorLimit)

ErrorCode	configReverseSoftLimitThreshold (double reverseSensorLimit, int timeoutMs)

ErrorCode	configReverseSoftLimitThreshold (double reverseSensorLimit)

ErrorCode	configForwardSoftLimitEnable (boolean enable, int timeoutMs)

ErrorCode	configForwardSoftLimitEnable (boolean enable)

ErrorCode	configReverseSoftLimitEnable (boolean enable, int timeoutMs)

ErrorCode	configReverseSoftLimitEnable (boolean enable)

void	overrideSoftLimitsEnable (boolean enable)

ErrorCode	config_kP (int slotIdx, double value, int timeoutMs)

ErrorCode	config_kP (int slotIdx, double value)

ErrorCode	config_kI (int slotIdx, double value, int timeoutMs)

ErrorCode	config_kI (int slotIdx, double value)

ErrorCode	config_kD (int slotIdx, double value, int timeoutMs)

ErrorCode	config_kD (int slotIdx, double value)

ErrorCode	config_kF (int slotIdx, double value, int timeoutMs)

ErrorCode	config_kF (int slotIdx, double value)

ErrorCode	config_IntegralZone (int slotIdx, double izone, int timeoutMs)

ErrorCode	config_IntegralZone (int slotIdx, double izone)

ErrorCode	configAllowableClosedloopError (int slotIdx, double allowableClosedLoopError, int timeoutMs)

ErrorCode	configAllowableClosedloopError (int slotIdx, double allowableClosedLoopError)

ErrorCode	configMaxIntegralAccumulator (int slotIdx, double iaccum, int timeoutMs)

ErrorCode	configMaxIntegralAccumulator (int slotIdx, double iaccum)

ErrorCode	configClosedLoopPeakOutput (int slotIdx, double percentOut, int timeoutMs)

ErrorCode	configClosedLoopPeakOutput (int slotIdx, double percentOut)

ErrorCode	configClosedLoopPeriod (int slotIdx, int loopTimeMs, int timeoutMs)

ErrorCode	configClosedLoopPeriod (int slotIdx, int loopTimeMs)

ErrorCode	configAuxPIDPolarity (boolean invert, int timeoutMs)

ErrorCode	configAuxPIDPolarity (boolean invert)

ErrorCode	setIntegralAccumulator (double iaccum, int pidIdx, int timeoutMs)

ErrorCode	setIntegralAccumulator (double iaccum)

double	getClosedLoopError (int pidIdx)

double	getClosedLoopError ()

double	getIntegralAccumulator (int pidIdx)

double	getIntegralAccumulator ()

double	getErrorDerivative (int pidIdx)

double	getErrorDerivative ()

void	selectProfileSlot (int slotIdx, int pidIdx)

double	getClosedLoopTarget (int pidIdx)

double	getClosedLoopTarget ()

double	getActiveTrajectoryPosition ()

double	getActiveTrajectoryPosition (int pidIdx)

double	getActiveTrajectoryVelocity ()

double	getActiveTrajectoryVelocity (int pidIdx)

double	getActiveTrajectoryArbFeedFwd ()

double	getActiveTrajectoryArbFeedFwd (int pidIdx)

ErrorCode	configMotionCruiseVelocity (double sensorUnitsPer100ms, int timeoutMs)

ErrorCode	configMotionCruiseVelocity (double sensorUnitsPer100ms)

ErrorCode	configMotionAcceleration (double sensorUnitsPer100msPerSec, int timeoutMs)

ErrorCode	configMotionAcceleration (double sensorUnitsPer100msPerSec)

ErrorCode	configMotionSCurveStrength (int curveStrength, int timeoutMs)

ErrorCode	configMotionSCurveStrength (int curveStrength)

ErrorCode	clearMotionProfileTrajectories ()

int	getMotionProfileTopLevelBufferCount ()

ErrorCode	pushMotionProfileTrajectory (TrajectoryPoint trajPt)

ErrorCode	startMotionProfile (BufferedTrajectoryPointStream stream, int minBufferedPts, ControlMode motionProfControlMode)

boolean	isMotionProfileFinished ()

boolean	isMotionProfileTopLevelBufferFull ()

void	processMotionProfileBuffer ()

ErrorCode	getMotionProfileStatus (MotionProfileStatus statusToFill)

ErrorCode	clearMotionProfileHasUnderrun (int timeoutMs)

ErrorCode	clearMotionProfileHasUnderrun ()

ErrorCode	changeMotionControlFramePeriod (int periodMs)

ErrorCode	configMotionProfileTrajectoryPeriod (int baseTrajDurationMs, int timeoutMs)

ErrorCode	configMotionProfileTrajectoryPeriod (int baseTrajDurationMs)

ErrorCode	configMotionProfileTrajectoryInterpolationEnable (boolean enable, int timeoutMs)

ErrorCode	configMotionProfileTrajectoryInterpolationEnable (boolean enable)

ErrorCode	configFeedbackNotContinuous (boolean feedbackNotContinuous, int timeoutMs)

ErrorCode	configRemoteSensorClosedLoopDisableNeutralOnLOS (boolean remoteSensorClosedLoopDisableNeutralOnLOS, int timeoutMs)

ErrorCode	configClearPositionOnLimitF (boolean clearPositionOnLimitF, int timeoutMs)

ErrorCode	configClearPositionOnLimitR (boolean clearPositionOnLimitR, int timeoutMs)

ErrorCode	configClearPositionOnQuadIdx (boolean clearPositionOnQuadIdx, int timeoutMs)

ErrorCode	configLimitSwitchDisableNeutralOnLOS (boolean limitSwitchDisableNeutralOnLOS, int timeoutMs)

ErrorCode	configSoftLimitDisableNeutralOnLOS (boolean softLimitDisableNeutralOnLOS, int timeoutMs)

ErrorCode	configPulseWidthPeriod_EdgesPerRot (int pulseWidthPeriod_EdgesPerRot, int timeoutMs)

ErrorCode	configPulseWidthPeriod_FilterWindowSz (int pulseWidthPeriod_FilterWindowSz, int timeoutMs)

ErrorCode	getLastError ()

ErrorCode	getFaults (Faults toFill)

ErrorCode	getStickyFaults (StickyFaults toFill)

ErrorCode	clearStickyFaults (int timeoutMs)

ErrorCode	clearStickyFaults ()

int	getFirmwareVersion ()

boolean	hasResetOccurred ()

ErrorCode	configSetCustomParam (int newValue, int paramIndex, int timeoutMs)

ErrorCode	configSetCustomParam (int newValue, int paramIndex)

int	configGetCustomParam (int paramIndex, int timeoutMs)

int	configGetCustomParam (int paramIndex)

ErrorCode	configSetParameter (ParamEnum param, double value, int subValue, int ordinal, int timeoutMs)

ErrorCode	configSetParameter (ParamEnum param, double value, int subValue, int ordinal)

ErrorCode	configSetParameter (int param, double value, int subValue, int ordinal, int timeoutMs)

ErrorCode	configSetParameter (int param, double value, int subValue, int ordinal)

double	configGetParameter (ParamEnum param, int ordinal, int timeoutMs)

double	configGetParameter (ParamEnum param, int ordinal)

double	configGetParameter (int param, int ordinal, int timeoutMs)

double	configGetParameter (int param, int ordinal)

int	getBaseID ()

ControlMode	getControlMode ()

void	follow (IMotorController masterToFollow, FollowerType followerType)

void	follow (IMotorController masterToFollow)

void	valueUpdated ()

ErrorCode	configureSlot (SlotConfiguration slot)

ErrorCode	configureSlot (SlotConfiguration slot, int slotIdx, int timeoutMs)

void	getSlotConfigs (SlotConfiguration slot, int slotIdx, int timeoutMs)

void	getSlotConfigs (SlotConfiguration slot)

ErrorCode	configureFilter (FilterConfiguration filter, int ordinal, int timeoutMs, boolean enableOptimizations)

ErrorCode	configureFilter (FilterConfiguration filter, int ordinal, int timeoutMs)

ErrorCode	configureFilter (FilterConfiguration filter)

void	getFilterConfigs (FilterConfiguration filter, int ordinal, int timeoutMs)

void	getFilterConfigs (FilterConfiguration filter)

void	set (ControlMode Mode, double demand)

void	set (ControlMode Mode, double demand0, DemandType demand1Type, double demand1)

void	neutralOutput ()

void	setNeutralMode (NeutralMode neutralMode)

void	setSensorPhase (boolean PhaseSensor)

void	setInverted (boolean invert)

void	setInverted (InvertType invertType)

boolean	getInverted ()

ErrorCode	configOpenloopRamp (double secondsFromNeutralToFull, int timeoutMs)

ErrorCode	configClosedloopRamp (double secondsFromNeutralToFull, int timeoutMs)

ErrorCode	configPeakOutputForward (double percentOut, int timeoutMs)

ErrorCode	configPeakOutputReverse (double percentOut, int timeoutMs)

ErrorCode	configNominalOutputForward (double percentOut, int timeoutMs)

ErrorCode	configNominalOutputReverse (double percentOut, int timeoutMs)

ErrorCode	configNeutralDeadband (double percentDeadband, int timeoutMs)

ErrorCode	configVoltageCompSaturation (double voltage, int timeoutMs)

ErrorCode	configVoltageMeasurementFilter (int filterWindowSamples, int timeoutMs)

void	enableVoltageCompensation (boolean enable)

double	getBusVoltage ()

double	getMotorOutputPercent ()

double	getMotorOutputVoltage ()

double	getTemperature ()

ErrorCode	configSelectedFeedbackSensor (RemoteFeedbackDevice feedbackDevice, int pidIdx, int timeoutMs)

ErrorCode	configSelectedFeedbackCoefficient (double coefficient, int pidIdx, int timeoutMs)

ErrorCode	configRemoteFeedbackFilter (int deviceID, RemoteSensorSource remoteSensorSource, int remoteOrdinal, int timeoutMs)

ErrorCode	configRemoteFeedbackFilter (CANCoder canCoderRef, int remoteOrdinal, int timeoutMs)

ErrorCode	configRemoteFeedbackFilter (BaseTalon talonRef, int remoteOrdinal, int timeoutMs)

ErrorCode	configSensorTerm (SensorTerm sensorTerm, FeedbackDevice feedbackDevice, int timeoutMs)

double	getSelectedSensorPosition (int pidIdx)

double	getSelectedSensorVelocity (int pidIdx)

ErrorCode	setSelectedSensorPosition (double sensorPos, int pidIdx, int timeoutMs)

ErrorCode	setControlFramePeriod (ControlFrame frame, int periodMs)

ErrorCode	setStatusFramePeriod (StatusFrame frame, int periodMs, int timeoutMs)

int	getStatusFramePeriod (StatusFrame frame, int timeoutMs)

ErrorCode	configForwardLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs)

ErrorCode	configReverseLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs)

void	overrideLimitSwitchesEnable (boolean enable)

ErrorCode	configForwardSoftLimitThreshold (double forwardSensorLimit, int timeoutMs)

ErrorCode	configReverseSoftLimitThreshold (double reverseSensorLimit, int timeoutMs)

ErrorCode	configForwardSoftLimitEnable (boolean enable, int timeoutMs)

ErrorCode	configReverseSoftLimitEnable (boolean enable, int timeoutMs)

void	overrideSoftLimitsEnable (boolean enable)

ErrorCode	config_kP (int slotIdx, double value, int timeoutMs)

ErrorCode	config_kI (int slotIdx, double value, int timeoutMs)

ErrorCode	config_kD (int slotIdx, double value, int timeoutMs)

ErrorCode	config_kF (int slotIdx, double value, int timeoutMs)

ErrorCode	config_IntegralZone (int slotIdx, double izone, int timeoutMs)

ErrorCode	configAllowableClosedloopError (int slotIdx, double allowableCloseLoopError, int timeoutMs)

ErrorCode	configMaxIntegralAccumulator (int slotIdx, double iaccum, int timeoutMs)

ErrorCode	configClosedLoopPeakOutput (int slotIdx, double percentOut, int timeoutMs)

ErrorCode	configClosedLoopPeriod (int slotIdx, int loopTimeMs, int timeoutMs)

ErrorCode	configAuxPIDPolarity (boolean invert, int timeoutMs)

ErrorCode	setIntegralAccumulator (double iaccum, int pidIdx, int timeoutMs)

double	getClosedLoopError (int pidIdx)

double	getIntegralAccumulator (int pidIdx)

double	getErrorDerivative (int pidIdx)

void	selectProfileSlot (int slotIdx, int pidIdx)

double	getClosedLoopTarget (int pidIdx)

double	getActiveTrajectoryPosition ()

double	getActiveTrajectoryVelocity ()

ErrorCode	configMotionCruiseVelocity (double sensorUnitsPer100ms, int timeoutMs)

ErrorCode	configMotionAcceleration (double sensorUnitsPer100msPerSec, int timeoutMs)

ErrorCode	configMotionSCurveStrength (int curveStrength, int timeoutMs)

ErrorCode	configMotionProfileTrajectoryPeriod (int baseTrajDurationMs, int timeoutMs)

ErrorCode	clearMotionProfileTrajectories ()

int	getMotionProfileTopLevelBufferCount ()

ErrorCode	pushMotionProfileTrajectory (TrajectoryPoint trajPt)

boolean	isMotionProfileTopLevelBufferFull ()

void	processMotionProfileBuffer ()

ErrorCode	getMotionProfileStatus (MotionProfileStatus statusToFill)

ErrorCode	clearMotionProfileHasUnderrun (int timeoutMs)

ErrorCode	changeMotionControlFramePeriod (int periodMs)

ErrorCode	getLastError ()

ErrorCode	getFaults (Faults toFill)

ErrorCode	getStickyFaults (StickyFaults toFill)

ErrorCode	clearStickyFaults (int timeoutMs)

int	getFirmwareVersion ()

boolean	hasResetOccurred ()

ErrorCode	configSetCustomParam (int newValue, int paramIndex, int timeoutMs)

int	configGetCustomParam (int paramIndex, int timeoutMs)

ErrorCode	configSetParameter (ParamEnum param, double value, int subValue, int ordinal, int timeoutMs)

ErrorCode	configSetParameter (int param, double value, int subValue, int ordinal, int timeoutMs)

double	configGetParameter (ParamEnum paramEnum, int ordinal, int timeoutMs)

double	configGetParameter (int paramEnum, int ordinal, int timeoutMs)

int	getBaseID ()

int	getDeviceID ()

ControlMode	getControlMode ()

void	setInverted (boolean invert)

boolean	getInverted ()

void	follow (IMotorController masterToFollow)

void	valueUpdated ()

Public Member Functions inherited from com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced
ErrorCode	configSelectedFeedbackSensor (FeedbackDevice feedbackDevice, int pidIdx, int timeoutMs)

ErrorCode	configSupplyCurrentLimit (SupplyCurrentLimitConfiguration currLimitCfg, int timeoutMs)

ErrorCode	setStatusFramePeriod (StatusFrameEnhanced frame, int periodMs, int timeoutMs)

int	getStatusFramePeriod (StatusFrameEnhanced frame, int timeoutMs)

double	getOutputCurrent ()

ErrorCode	configVelocityMeasurementPeriod (SensorVelocityMeasPeriod period, int timeoutMs)

ErrorCode	configVelocityMeasurementPeriod (VelocityMeasPeriod period, int timeoutMs)

ErrorCode	configVelocityMeasurementWindow (int windowSize, int timeoutMs)

ErrorCode	configForwardLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int timeoutMs)

ErrorCode	configReverseLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int timeoutMs)

Protected Member Functions
SensorCollection	getTalonSRXSensorCollection ()

TalonFXSensorCollection	getTalonFXSensorCollection ()

TalonSRXSimCollection	getTalonSRXSimCollection ()

TalonFXSimCollection	getTalonFXSimCollection ()

ErrorCode	configurePID (BaseTalonPIDSetConfiguration pid, int pidIdx, int timeoutMs, boolean enableOptimizations)

ErrorCode	configurePID (BaseTalonPIDSetConfiguration pid)

void	getPIDConfigs (BaseTalonPIDSetConfiguration pid, int pidIdx, int timeoutMs)

void	getPIDConfigs (BaseTalonPIDSetConfiguration pid)

ErrorCode	configAllSettings (BaseTalonConfiguration allConfigs, int timeoutMs)

ErrorCode	configAllSettings (BaseTalonConfiguration allConfigs)

void	getAllConfigs (BaseTalonConfiguration allConfigs, int timeoutMs)

void	getAllConfigs (BaseTalonConfiguration allConfigs)

Protected Member Functions inherited from com.ctre.phoenix.motorcontrol.can.BaseMotorController
VictorSPXSimCollection	getVictorSPXSimCollection ()

double	getOutputCurrent ()

ErrorCode	configForwardLimitSwitchSource (int typeValue, int normalOpenOrCloseValue, int deviceID, int timeoutMs)

ErrorCode	configReverseLimitSwitchSource (int typeValue, int normalOpenOrCloseValue, int deviceID, int timeoutMs)

ErrorCode	baseConfigAllSettings (BaseMotorControllerConfiguration allConfigs, int timeoutMs)

ErrorCode	baseConfigurePID (BasePIDSetConfiguration pid, int pidIdx, int timeoutMs)

void	baseGetPIDConfigs (BasePIDSetConfiguration pid, int pidIdx, int timeoutMs)

void	baseGetAllConfigs (BaseMotorControllerConfiguration allConfigs, int timeoutMs)

Additional Inherited Members
Protected Attributes inherited from com.ctre.phoenix.motorcontrol.can.BaseMotorController
long	m_handle

Detailed Description

CTRE Talon SRX Motor Controller when used on CAN Bus.

Constructor & Destructor Documentation

◆ BaseTalon() [1/2]

com.ctre.phoenix.motorcontrol.can.BaseTalon.BaseTalon	(	int	deviceNumber,
		String	model,
		String	canbus
	)

inline

Constructor for BaseTalon object

Parameters

deviceNumber CAN Device ID of Device

◆ BaseTalon() [2/2]

com.ctre.phoenix.motorcontrol.can.BaseTalon.BaseTalon	(	int	deviceNumber,
		String	model
	)

inline

Constructor for BaseTalon object

Parameters

deviceNumber CAN Device ID of Device

Member Function Documentation

◆ configAllSettings() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.BaseTalon.configAllSettings ( BaseTalonConfiguration allConfigs )

inlineprotected

Configures all persistent settings (overloaded so timeoutMs is 50 ms).

Parameters

allConfigs Object with all of the persistant settings

Returns: Error Code generated by function. 0 indicates no error.

◆ configAllSettings() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.BaseTalon.configAllSettings	(	BaseTalonConfiguration	allConfigs,
		int	timeoutMs
	)

inlineprotected

Configures all persistent settings.

Parameters

allConfigs	Object with all of the persistant settings
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 generated by function. 0 indicates no error.

◆ configForwardLimitSwitchSource() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.BaseTalon.configForwardLimitSwitchSource	(	LimitSwitchSource	type,
		LimitSwitchNormal	normalOpenOrClose
	)

inline

Configures a limit switch for a local/remote source.

For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon, CANifier, or local Gadgeteer feedback connector.

If the sensor is remote, a device ID of zero is assumed. If that's not desired, use the four parameter version of this function.

Parameters

type	Limit switch source. User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature.
normalOpenOrClose	Setting for normally open, normally closed, or disabled. This setting matches the Phoenix Tuner drop down.

Returns: Error Code generated by function. 0 indicates no error.

Reimplemented from com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configForwardLimitSwitchSource() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.BaseTalon.configForwardLimitSwitchSource	(	LimitSwitchSource	type,
		LimitSwitchNormal	normalOpenOrClose,
		int	timeoutMs
	)

inline

Configures a limit switch for a local/remote source.

For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon, CANifier, or local Gadgeteer feedback connector.

If the sensor is remote, a device ID of zero is assumed. If that's not desired, use the four parameter version of this function.

Parameters

type	Limit switch source. User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature.
normalOpenOrClose	Setting for normally open, normally closed, or disabled. This setting matches the Phoenix Tuner drop down.
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 generated by function. 0 indicates no error.

Reimplemented from com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configReverseLimitSwitchSource() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.BaseTalon.configReverseLimitSwitchSource	(	LimitSwitchSource	type,
		LimitSwitchNormal	normalOpenOrClose
	)

inline

Configures a limit switch for a local/remote source.

For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon, CANifier, or local Gadgeteer feedback connector.

If the sensor is remote, a device ID of zero is assumed. If that's not desired, use the four parameter version of this function.

Parameters

type	Limit switch source.

See also: com.ctre.phoenix.motorcontrol.LimitSwitchSource User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature.

Parameters

normalOpenOrClose Setting for normally open, normally closed, or disabled. This setting matches the Phoenix Tuner drop down.

Returns: Error Code generated by function. 0 indicates no error.

◆ configReverseLimitSwitchSource() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.BaseTalon.configReverseLimitSwitchSource	(	LimitSwitchSource	type,
		LimitSwitchNormal	normalOpenOrClose,
		int	timeoutMs
	)

inline

Configures a limit switch for a local/remote source.

For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon, CANifier, or local Gadgeteer feedback connector.

If the sensor is remote, a device ID of zero is assumed. If that's not desired, use the four parameter version of this function.

Parameters

type	Limit switch source.

See also: com.ctre.phoenix.motorcontrol.LimitSwitchSource User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature.

Parameters

normalOpenOrClose	Setting for normally open, normally closed, or disabled. This setting matches the Phoenix Tuner drop down.
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 generated by function. 0 indicates no error.

Implements com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced.

◆ configSupplyCurrentLimit()

ErrorCode com.ctre.phoenix.motorcontrol.can.BaseTalon.configSupplyCurrentLimit	(	SupplyCurrentLimitConfiguration	currLimitCfg,
		int	timeoutMs
	)

inline

Configures the supply (input) current limit.

Parameters

currLimitCfg	Current limit configuration
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 generated by function. 0 indicates no error.

Implements com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced.

Reimplemented in com.ctre.phoenix.motorcontrol.can.TalonFX, and com.ctre.phoenix.motorcontrol.can.TalonSRX.

◆ configurePID() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.BaseTalon.configurePID ( BaseTalonPIDSetConfiguration pid )

inlineprotected

Configures all PID set persistent settings (overloaded so timeoutMs is 50 ms and pidIdx is 0).

Parameters

pid	Object with all of the PID set persistant settings

Returns: Error Code generated by function. 0 indicates no error.

◆ configurePID() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.BaseTalon.configurePID	(	BaseTalonPIDSetConfiguration	pid,
		int	pidIdx,
		int	timeoutMs,
		boolean	enableOptimizations
	)

inlineprotected

Configures all PID set persistent settings (overloaded so timeoutMs is 50 ms and pidIdx is 0).

Parameters

pid	Object with all of the PID set persistant settings
pidIdx	0 for Primary closed-loop. 1 for auxiliary closed-loop.
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.
enableOptimizations	Enable the optimization technique

Returns: Error Code generated by function. 0 indicates no error.

◆ configVelocityMeasurementPeriod() [1/4]

ErrorCode com.ctre.phoenix.motorcontrol.can.BaseTalon.configVelocityMeasurementPeriod ( SensorVelocityMeasPeriod period )

inline

Configures the period of each velocity sample. Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.

Parameters

period Desired period for the velocity measurement.

See also: com.ctre.phoenix.sensors.SensorVelocityMeasPeriod

Returns: Error Code generated by function. 0 indicates no error.

Reimplemented from com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configVelocityMeasurementPeriod() [2/4]

ErrorCode com.ctre.phoenix.motorcontrol.can.BaseTalon.configVelocityMeasurementPeriod	(	SensorVelocityMeasPeriod	period,
		int	timeoutMs
	)

inline

Configures the period of each velocity sample. Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.

Parameters

period Desired period for the velocity measurement.

See also: com.ctre.phoenix.sensors.SensorVelocityMeasPeriod

Parameters

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 generated by function. 0 indicates no error.

Reimplemented from com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configVelocityMeasurementPeriod() [3/4]

ErrorCode com.ctre.phoenix.motorcontrol.can.BaseTalon.configVelocityMeasurementPeriod ( VelocityMeasPeriod period )

inline

Configures the period of each velocity sample. Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.

Deprecated:: Use the overload with SensorVelocityMeasPeriod instead.

Parameters

period Desired period for the velocity measurement.

See also: com.ctre.phoenix.motorcontrol.VelocityMeasPeriod

Returns: Error Code generated by function. 0 indicates no error.

Reimplemented from com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configVelocityMeasurementPeriod() [4/4]

ErrorCode com.ctre.phoenix.motorcontrol.can.BaseTalon.configVelocityMeasurementPeriod	(	VelocityMeasPeriod	period,
		int	timeoutMs
	)

inline

Configures the period of each velocity sample. Every 1ms a position value is sampled, and the delta between that sample and the position sampled kPeriod ms ago is inserted into a filter. kPeriod is configured with this function.

Deprecated:: Use the overload with SensorVelocityMeasPeriod instead.

Parameters

period Desired period for the velocity measurement.

See also: com.ctre.phoenix.motorcontrol.VelocityMeasPeriod

Parameters

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 generated by function. 0 indicates no error.

Reimplemented from com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configVelocityMeasurementWindow() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.BaseTalon.configVelocityMeasurementWindow ( int windowSize )

inline

Sets the number of velocity samples used in the rolling average velocity measurement.

Parameters

windowSize Number of samples in the rolling average of velocity measurement. Valid values are 1,2,4,8,16,32. If another value is specified, it will truncate to nearest support value.

Returns: Error Code generated by function. 0 indicates no error.

Reimplemented from com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configVelocityMeasurementWindow() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.BaseTalon.configVelocityMeasurementWindow	(	int	windowSize,
		int	timeoutMs
	)

inline

Sets the number of velocity samples used in the rolling average velocity measurement.

Parameters

windowSize	Number of samples in the rolling average of velocity measurement. Valid values are 1,2,4,8,16,32. If another value is specified, it will truncate to nearest support value.
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 generated by function. 0 indicates no error.

Reimplemented from com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getAllConfigs() [1/2]

void com.ctre.phoenix.motorcontrol.can.BaseTalon.getAllConfigs ( BaseTalonConfiguration allConfigs )

inlineprotected

Gets all persistant settings (overloaded so timeoutMs is 50 ms).

Parameters

allConfigs Object with all of the persistant settings

◆ getAllConfigs() [2/2]

void com.ctre.phoenix.motorcontrol.can.BaseTalon.getAllConfigs	(	BaseTalonConfiguration	allConfigs,
		int	timeoutMs
	)

inlineprotected

Gets all persistant settings.

Parameters

allConfigs	Object with all of the persistant settings
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.

◆ getOutputCurrent()

double com.ctre.phoenix.motorcontrol.can.BaseTalon.getOutputCurrent ( )

inline

Gets the output current of the motor controller. In the case of TalonSRX class, this routine returns supply current for legacy reasons. In order to get the "true" output current, call GetStatorCurrent(). In the case of TalonFX class, this routine returns the true output stator current.

Deprecated:: Use getStatorCurrent/getSupplyCurrent instead.

Returns: The output current (in amps).

Reimplemented from com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getPIDConfigs() [1/2]

void com.ctre.phoenix.motorcontrol.can.BaseTalon.getPIDConfigs ( BaseTalonPIDSetConfiguration pid )

inlineprotected

Gets all PID set persistant settings (overloaded so timeoutMs is 50 ms and pidIdx is 0).

Parameters

pid	Object with all of the PID set persistant settings

◆ getPIDConfigs() [2/2]

void com.ctre.phoenix.motorcontrol.can.BaseTalon.getPIDConfigs	(	BaseTalonPIDSetConfiguration	pid,
		int	pidIdx,
		int	timeoutMs
	)

inlineprotected

Gets all PID set persistant settings.

Parameters

pid	Object with all of the PID set persistant settings
pidIdx	0 for Primary closed-loop. 1 for auxiliary closed-loop.
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.

◆ getStatorCurrent()

double com.ctre.phoenix.motorcontrol.can.BaseTalon.getStatorCurrent ( )

inline

Gets the stator/output current of the motor controller.

Returns: The stator/output current (in amps).

◆ getStatusFramePeriod() [1/2]

int com.ctre.phoenix.motorcontrol.can.BaseTalon.getStatusFramePeriod ( StatusFrameEnhanced frame )

inline

Gets the period of the given status frame.

Parameters

frame Frame to get the period of.

Returns: Period of the given status frame.

Reimplemented from com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getStatusFramePeriod() [2/2]

int com.ctre.phoenix.motorcontrol.can.BaseTalon.getStatusFramePeriod	(	StatusFrameEnhanced	frame,
		int	timeoutMs
	)

inline

Gets the period of the given status frame.

Parameters

frame	Frame to get the period of.
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: Period of the given status frame.

Reimplemented from com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getSupplyCurrent()

double com.ctre.phoenix.motorcontrol.can.BaseTalon.getSupplyCurrent ( )

inline

Gets the supply/input current of the motor controller.

Returns: The supply/input current (in amps).

◆ isFwdLimitSwitchClosed()

int com.ctre.phoenix.motorcontrol.can.BaseTalon.isFwdLimitSwitchClosed ( )

inline

Is forward limit switch closed.

Returns: '1' iff forward limit switch input 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()

int com.ctre.phoenix.motorcontrol.can.BaseTalon.isRevLimitSwitchClosed ( )

inline

Is reverse limit switch closed.

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.

◆ setStatusFramePeriod() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.BaseTalon.setStatusFramePeriod	(	StatusFrameEnhanced	frame,
		int	periodMs
	)

inline

Sets the period of the given status frame.

User ensure CAN Bus utilization is not high.

This setting is not persistent and is lost when device is reset. If this is a concern, calling application can use hasResetOccurred() to determine if the status frame needs to be reconfigured.

Parameters

frame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.

Returns: Error Code generated by function. 0 indicates no error.

◆ setStatusFramePeriod() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.BaseTalon.setStatusFramePeriod	(	StatusFrameEnhanced	frame,
		int	periodMs,
		int	timeoutMs
	)

inline

Sets the period of the given status frame.

User ensure CAN Bus utilization is not high.

This setting is not persistent and is lost when device is reset. If this is a concern, calling application can use hasResetOccurred() to determine if the status frame needs to be reconfigured.

Parameters

frame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.
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 generated by function. 0 indicates no error.

Implements com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced.

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

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BaseTalon() [1/2]

◆ BaseTalon() [2/2]

Member Function Documentation

◆ configAllSettings() [1/2]

◆ configAllSettings() [2/2]

◆ configForwardLimitSwitchSource() [1/2]

◆ configForwardLimitSwitchSource() [2/2]

◆ configReverseLimitSwitchSource() [1/2]

◆ configReverseLimitSwitchSource() [2/2]

◆ configSupplyCurrentLimit()

◆ configurePID() [1/2]

◆ configurePID() [2/2]

◆ configVelocityMeasurementPeriod() [1/4]

◆ configVelocityMeasurementPeriod() [2/4]

◆ configVelocityMeasurementPeriod() [3/4]

◆ configVelocityMeasurementPeriod() [4/4]

◆ configVelocityMeasurementWindow() [1/2]

◆ configVelocityMeasurementWindow() [2/2]

◆ getAllConfigs() [1/2]

◆ getAllConfigs() [2/2]

◆ getOutputCurrent()

◆ getPIDConfigs() [1/2]

◆ getPIDConfigs() [2/2]

◆ getStatorCurrent()

◆ getStatusFramePeriod() [1/2]

◆ getStatusFramePeriod() [2/2]

◆ getSupplyCurrent()

◆ isFwdLimitSwitchClosed()

◆ isRevLimitSwitchClosed()

◆ setStatusFramePeriod() [1/2]

◆ setStatusFramePeriod() [2/2]