com.ctre.phoenix.motorcontrol.can.BaseTalonConfiguration Class Reference

Inherits com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration.

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

Public Member Functions
	BaseTalonConfiguration (FeedbackDevice defaultFeedbackDevice)
String	toString ()
String	toString (String prependString)
String	toString ()
String	toString (String prependString)
String	toString ()
String	toString (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 com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration
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 TalonSRX

Member Function Documentation

toString() [1/2]

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

inline

Returns

String representation of all the configs

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

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

toString() [2/2]

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

inline

Parameters

prependString

String to prepend to all the configs

Returns

String representation of all the configs

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

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

Member Data Documentation

auxiliaryPID

BaseTalonPIDSetConfiguration com.ctre.phoenix.motorcontrol.can.BaseTalonConfiguration.auxiliaryPID

Auxiliary PID configuration

diff0Term

FeedbackDevice com.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 (see below).

configs.diff0Term = TalonSRXFeedbackDevice.QuadEncoder.toFeedbackDevice(); configs.diff0Term = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice();

diff1Term

FeedbackDevice com.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 (see below).

configs.diff1Term = TalonSRXFeedbackDevice.QuadEncoder.toFeedbackDevice(); configs.diff1Term = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice();

forwardLimitSwitchDeviceID

int com.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 com.ctre.phoenix.motorcontrol.can.BaseTalonConfiguration.forwardLimitSwitchNormal

Forward limit switch normally open/closed

forwardLimitSwitchSource

LimitSwitchSource com.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 com.ctre.phoenix.motorcontrol.can.BaseTalonConfiguration.primaryPID

Primary PID configuration

reverseLimitSwitchDeviceID

int com.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 com.ctre.phoenix.motorcontrol.can.BaseTalonConfiguration.reverseLimitSwitchNormal

Reverse limit switch normally open/closed

reverseLimitSwitchSource

LimitSwitchSource com.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 com.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 (see below).

configs.sum0Term = TalonSRXFeedbackDevice.QuadEncoder.toFeedbackDevice(); configs.sum0Term = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice();

sum1Term

FeedbackDevice com.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 (see below).

configs.sum1Term = TalonSRXFeedbackDevice.QuadEncoder.toFeedbackDevice(); configs.sum1Term = TalonFXFeedbackDevice.IntegratedSensor.toFeedbackDevice();

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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/can/BaseTalonConfiguration.java