Inherits com.ctre.phoenix.CTREJNIWrapper.

Static Public Member Functions
static native long	Create (int baseArbId)

static native long	Create2 (int deviceID, String model, String canbus)

static native int	JNI_destroy_MotController (long handle)

static native int	GetDeviceNumber (long handle)

static native int	GetBaseID (long handle)

static native void	SetDemand (long handle, int mode, int demand0, int demand1)

static native void	Set_4 (long handle, int mode, double demand0, double demand1, int demand1Type)

static native void	SetNeutralMode (long handle, int neutralMode)

static native void	SetSensorPhase (long handle, boolean PhaseSensor)

static native void	SetInverted (long handle, boolean invert)

static native void	SetInverted_2 (long handle, int invert)

static native int	ConfigFactoryDefault (long handle, int timeoutMs)

static native int	ConfigOpenLoopRamp (long handle, double secondsFromNeutralToFull, int timeoutMs)

static native int	ConfigClosedLoopRamp (long handle, double secondsFromNeutralToFull, int timeoutMs)

static native int	ConfigPeakOutputForward (long handle, double percentOut, int timeoutMs)

static native int	ConfigPeakOutputReverse (long handle, double percentOut, int timeoutMs)

static native int	ConfigNominalOutputForward (long handle, double percentOut, int timeoutMs)

static native int	ConfigNominalOutputReverse (long handle, double percentOut, int timeoutMs)

static native int	ConfigNeutralDeadband (long handle, double percentDeadband, int timeoutMs)

static native int	ConfigVoltageCompSaturation (long handle, double voltage, int timeoutMs)

static native int	ConfigVoltageMeasurementFilter (long handle, int filterWindowSamples, int timeoutMs)

static native void	EnableVoltageCompensation (long handle, boolean enable)

static native boolean	GetInverted (long handle)

static native double	GetBusVoltage (long handle)

static native double	GetMotorOutputPercent (long handle)

static native double	GetOutputCurrent (long handle)

static native double	GetSupplyCurrent (long handle)

static native double	GetStatorCurrent (long handle)

static native double	GetTemperature (long handle)

static native int	ConfigRemoteFeedbackFilter (long handle, int deviceID, int remoteSensorSource, int remoteOrdinal, int timeoutMs)

static native int	ConfigSelectedFeedbackSensor (long handle, int feedbackDevice, int pidIdx, int timeoutMs)

static native int	ConfigSensorTerm (long handle, int sensorTerm, int feedbackDevice, int timeoutMs)

static native int	GetSelectedSensorPosition (long handle, int pidIdx)

static native int	GetSelectedSensorVelocity (long handle, int pidIdx)

static native int	SetSelectedSensorPosition (long handle, int sensorPos, int pidIdx, int timeoutMs)

static native int	SetControlFramePeriod (long handle, int frame, int periodMs)

static native int	SetStatusFramePeriod (long handle, int frame, int periodMs, int timeoutMs)

static native int	GetStatusFramePeriod (long handle, int frame, int timeoutMs)

static native int	ConfigVelocityMeasurementPeriod (long handle, int period, int timeoutMs)

static native int	ConfigVelocityMeasurementWindow (long handle, int windowSize, int timeoutMs)

static native int	ConfigForwardLimitSwitchSource (long handle, int type, int normalOpenOrClose, int deviceID, int timeoutMs)

static native int	ConfigReverseLimitSwitchSource (long handle, int type, int normalOpenOrClose, int deviceID, int timeoutMs)

static native void	OverrideLimitSwitchesEnable (long handle, boolean enable)

static native int	ConfigForwardSoftLimitThreshold (long handle, int forwardSensorLimit, int timeoutMs)

static native int	ConfigReverseSoftLimitThreshold (long handle, int reverseSensorLimit, int timeoutMs)

static native int	ConfigForwardSoftLimitEnable (long handle, boolean enable, int timeoutMs)

static native int	ConfigReverseSoftLimitEnable (long handle, boolean enable, int timeoutMs)

static native void	OverrideSoftLimitsEnable (long handle, boolean enable)

static native int	Config_kP (long handle, int slotIdx, double value, int timeoutMs)

static native int	Config_kI (long handle, int slotIdx, double value, int timeoutMs)

static native int	Config_kD (long handle, int slotIdx, double value, int timeoutMs)

static native int	Config_kF (long handle, int slotIdx, double value, int timeoutMs)

static native int	Config_IntegralZone (long handle, int slotIdx, double izone, int timeoutMs)

static native int	ConfigAllowableClosedloopError (long handle, int slotIdx, int allowableClosedLoopError, int timeoutMs)

static native int	ConfigMaxIntegralAccumulator (long handle, int slotIdx, double iaccum, int timeoutMs)

static native int	SetIntegralAccumulator (long handle, double iaccum, int pidIdx, int timeoutMs)

static native int	GetClosedLoopError (long handle, int pidIdx)

static native double	GetIntegralAccumulator (long handle, int pidIdx)

static native double	GetErrorDerivative (long handle, int pidIdx)

static native void	SelectProfileSlot (long handle, int slotIdx, int pidIdx)

static native int	GetActiveTrajectoryPosition (long handle)

static native int	GetActiveTrajectoryVelocity (long handle)

static native double	GetActiveTrajectoryHeading (long handle)

static native int	GetActiveTrajectoryPosition3 (long handle, int pidIdx)

static native int	GetActiveTrajectoryVelocity3 (long handle, int pidIdx)

static native double	GetActiveTrajectoryArbFeedFwd3 (long handle, int pidIdx)

static native int	ConfigMotionCruiseVelocity (long handle, int sensorUnitsPer100ms, int timeoutMs)

static native int	ConfigMotionAcceleration (long handle, int sensorUnitsPer100msPerSec, int timeoutMs)

static native int	ConfigMotionSCurveStrength (long m_handle, int curveStrength, int timeoutMs)

static native int	ClearMotionProfileTrajectories (long handle)

static native int	GetMotionProfileTopLevelBufferCount (long handle)

static native int	PushMotionProfileTrajectory (long handle, double position, double velocity, double headingDeg, int profileSlotSelect, boolean isLastPoint, boolean zeroPos)

static native int	PushMotionProfileTrajectory2 (long handle, double position, double velocity, double headingDeg, int profileSlotSelect0, int profileSlotSelect1, boolean isLastPoint, boolean zeroPos, int durationMs)

static native int	PushMotionProfileTrajectory3 (long handle, double position, double velocity, double arbFeedFwd, double auxiliaryPos, double auxiliaryVel, double auxiliaryArbFeedFwd, int profileSlotSelect0, int profileSlotSelect1, boolean isLastPoint, boolean zeroPos0, int timeDur, boolean useAuxPID)

static native int	StartMotionProfile (long handle, long streamHandle, int minBufferedPts, int controlMode)

static native boolean	IsMotionProfileTopLevelBufferFull (long handle)

static native boolean	IsMotionProfileFinished (long handle)

static native int	ProcessMotionProfileBuffer (long handle)

static native int	GetMotionProfileStatus (long handle, int[] toFill_9)

static native int	GetMotionProfileStatus2 (long handle, int[] toFill_11)

static native int	ClearMotionProfileHasUnderrun (long handle, int timeoutMs)

static native int	ChangeMotionControlFramePeriod (long handle, int periodMs)

static native int	ConfigMotionProfileTrajectoryPeriod (long handle, int periodMs, int timeoutMs)

static native int	ConfigMotionProfileTrajectoryInterpolationEnable (long handle, boolean enable, int timeoutMs)

static native int	ConfigFeedbackNotContinuous (long handle, boolean feedbackNotContinuous, int timeoutMs)

static native int	ConfigRemoteSensorClosedLoopDisableNeutralOnLOS (long handle, boolean remoteSensorClosedLoopDisableNeutralOnLOS, int timeoutMs)

static native int	ConfigClearPositionOnLimitF (long handle, boolean clearPositionOnLimitF, int timeoutMs)

static native int	ConfigClearPositionOnLimitR (long handle, boolean clearPositionOnLimitR, int timeoutMs)

static native int	ConfigClearPositionOnQuadIdx (long handle, boolean clearPositionOnQuadIdx, int timeoutMs)

static native int	ConfigLimitSwitchDisableNeutralOnLOS (long handle, boolean limitSwitchDisableNeutralOnLOS, int timeoutMs)

static native int	ConfigSoftLimitDisableNeutralOnLOS (long handle, boolean softLimitDisableNeutralOnLOS, int timeoutMs)

static native int	ConfigPulseWidthPeriod_EdgesPerRot (long handle, int pulseWidthPeriod_EdgesPerRot, int timeoutMs)

static native int	ConfigPulseWidthPeriod_FilterWindowSz (long handle, int pulseWidthPeriod_FilterWindowSz, int timeoutMs)

static native int	GetLastError (long handle)

static native int	GetFirmwareVersion (long handle)

static native boolean	HasResetOccurred (long handle)

static native int	ConfigSetCustomParam (long handle, int newValue, int paramIndex, int timeoutMs)

static native int	ConfigGetCustomParam (long handle, int paramIndex, int timoutMs)

static native int	ConfigSetParameter (long handle, int param, double value, int subValue, int ordinal, int timeoutMs)

static native double	ConfigGetParameter (long handle, int param, int ordinal, int timeoutMs)

static native int	ConfigPeakCurrentLimit (long handle, int amps, int timeoutMs)

static native int	ConfigPeakCurrentDuration (long handle, int milliseconds, int timeoutMs)

static native int	ConfigContinuousCurrentLimit (long handle, int amps, int timeoutMs)

static native int	EnableCurrentLimit (long handle, boolean enable)

static native int	GetAnalogIn (long handle)

static native int	SetAnalogPosition (long handle, int newPosition, int timeoutMs)

static native int	GetAnalogInRaw (long handle)

static native int	GetAnalogInVel (long handle)

static native int	GetQuadraturePosition (long handle)

static native int	SetQuadraturePosition (long handle, int newPosition, int timeoutMs)

static native int	GetQuadratureVelocity (long handle)

static native int	GetPulseWidthPosition (long handle)

static native int	SetPulseWidthPosition (long handle, int newPosition, int timeoutMs)

static native int	GetPulseWidthVelocity (long handle)

static native int	GetPulseWidthRiseToFallUs (long handle)

static native int	GetPulseWidthRiseToRiseUs (long handle)

static native int	GetPinStateQuadA (long handle)

static native int	GetPinStateQuadB (long handle)

static native int	GetPinStateQuadIdx (long handle)

static native int	IsFwdLimitSwitchClosed (long handle)

static native int	IsRevLimitSwitchClosed (long handle)

static native int	GetFaults (long handle)

static native int	GetStickyFaults (long handle)

static native int	ClearStickyFaults (long handle, int timeoutMs)

static native int	SelectDemandType (long handle, int enable)

static native int	SetMPEOutput (long handle, int mpeOutput)

static native int	EnableHeadingHold (long handle, int enable)

static native int	GetClosedLoopTarget (long handle, int pidIdx)

static native int	ConfigSelectedFeedbackCoefficient (long handle, double coefficient, int pidIdx, int timeoutMs)

static native int	ConfigClosedLoopPeakOutput (long handle, int slotIdx, double percentOut, int timeoutMs)

static native int	ConfigClosedLoopPeriod (long handle, int slotIdx, int loopTimeMs, int timeoutMs)

static native int	ConfigMotorCommutation (long handle, int motorCommutation, int timeoutMs)

static native int	ConfigGetMotorCommutation (long handle, int timeoutMs)

static native int	ConfigSupplyCurrentLimit (long handle, double[] params, int timeoutMs)

static native int	ConfigStatorCurrentLimit (long handle, double[] params, int timeoutMs)

static native int	ConfigSupplyCurrentLimitEnable (long handle, boolean enable, int timeoutMs)

static native int	ConfigStatorCurrentLimitEnable (long handle, boolean enable, int timeoutMs)

static native int	ConfigBrakeCurrentLimitEnable (long handle, boolean enable, int timeoutMs)

static native int	ConfigGetSupplyCurrentLimit (long handle, double[] toFill, int timeoutMs)

static native int	ConfigGetStatorCurrentLimit (long handle, double[] toFill, int timeoutMs)

static native int	SetIntegratedSensorPosition (long handle, double newPos, int timeoutMs)

static native int	SetIntegratedSensorPositionToAbsolute (long handle, int timeoutMs)

static native double	GetIntegratedSensorPosition (long handle)

static native double	GetIntegratedSensorAbsolutePosition (long handle)

static native double	GetIntegratedSensorVelocity (long handle)

static native int	ConfigIntegratedSensorAbsoluteRange (long handle, int absoluteSensorRange, int timeoutMs)

static native int	ConfigIntegratedSensorOffset (long handle, double offsetDegrees, int timeoutMs)

static native int	ConfigIntegratedSensorInitializationStrategy (long handle, int initStrategy, int timeoutMs)

Member Function Documentation

◆ Config_IntegralZone()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.Config_IntegralZone	(	long	handle,
		int	slotIdx,
		double	izone,
		int	timeoutMs
	)

static

Sets the Integral Zone constant in the given parameter slot.

Parameters

handle	handle of device.
slotIdx	Parameter slot for the constant.
izone	Value of the Integral Zone constant.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ Config_kD()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.Config_kD	(	long	handle,
		int	slotIdx,
		double	value,
		int	timeoutMs
	)

static

Sets the 'D' constant in the given parameter slot.

This is multiplied by derivative error (sensor units per PID loop, typically 1ms). Note the closed loop output interprets a final value of 1023 as full output. So use a gain of '250' to get full output if derr is 4096u (Mag Encoder 1 rotation) per 1000 loops (typ 1 sec)

Parameters

handle	handle of device.
slotIdx	Parameter slot for the constant.
value	Value of the D constant.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ Config_kF()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.Config_kF	(	long	handle,
		int	slotIdx,
		double	value,
		int	timeoutMs
	)

static

Sets the 'F' constant in the given parameter slot.

See documentation for calculation details. If using velocity, motion magic, or motion profile, use (1023 * duty-cycle / sensor-velocity-sensor-units-per-100ms).

Parameters

handle	handle of device.
slotIdx	Parameter slot for the constant.
value	Value of the F constant.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ Config_kI()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.Config_kI	(	long	handle,
		int	slotIdx,
		double	value,
		int	timeoutMs
	)

static

Sets the 'I' constant in the given parameter slot. This is multiplied by accumulated closed loop error in sensor units every PID Loop. Note the closed loop output interprets a final value of 1023 as full output. So use a gain of '0.00025' to get full output if err is 4096u for 1000 loops (accumulater holds 4,096,000), [which is equivalent to one CTRE mag encoder rotation for 1000 milliseconds].

Parameters

handle	handle of device.
slotIdx	Parameter slot for the constant.
value	Value of the I constant.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ Config_kP()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.Config_kP	(	long	handle,
		int	slotIdx,
		double	value,
		int	timeoutMs
	)

static

Sets the 'P' constant in the given parameter slot. This is multiplied by closed loop error in sensor units. Note the closed loop output interprets a final value of 1023 as full output. So use a gain of '0.25' to get full output if err is 4096u (Mag Encoder 1 rotation)

Parameters

handle	handle of device.
slotIdx	Parameter slot for the constant.
value	Value of the P constant.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigAllowableClosedloopError()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigAllowableClosedloopError	(	long	handle,
		int	slotIdx,
		int	allowableClosedLoopError,
		int	timeoutMs
	)

static

Sets the allowable closed-loop error in the given parameter slot.

Parameters

handle	handle of device.
slotIdx	Parameter slot for the constant.
allowableClosedLoopError	Value of the allowable closed-loop error in sensor units (or sensor units per 100ms for velocity).
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigClosedLoopRamp()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigClosedLoopRamp	(	long	handle,
		double	secondsFromNeutralToFull,
		int	timeoutMs
	)

static

Configures the closed-loop ramp rate of throttle output.

Parameters

handle	handle of device.
secondsFromNeutralToFull	Minimum desired time to go from neutral to full throttle. A value of '0' will disable the ramp.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigContinuousCurrentLimit()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigContinuousCurrentLimit	(	long	handle,
		int	amps,
		int	timeoutMs
	)

static

Configures the continuous current limit.

Parameters

handle	handle of device.
amps	Continuous Current Limit.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigFactoryDefault()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigFactoryDefault	(	long	handle,
		int	timeoutMs
	)

static

Revert all configurations to factory default values. Use this before your individual config* calls to avoid having to config every single param.

Alternatively you can use the configAllSettings routine.

Parameters

handle	handle of device.
timeoutMs	Timeout value in ms. Function will generate error if config is not successful within timeout.

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

◆ ConfigForwardLimitSwitchSource()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigForwardLimitSwitchSource	(	long	handle,
		int	type,
		int	normalOpenOrClose,
		int	deviceID,
		int	timeoutMs
	)

static

Configures the forward limit switch for a remote source.

Parameters

handle	handle of device.
type	Remote limit switch source.

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

Parameters

normalOpenOrClose	Setting for normally open or normally closed.
deviceID	Device ID of remote source.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigForwardSoftLimitThreshold()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigForwardSoftLimitThreshold	(	long	handle,
		int	forwardSensorLimit,
		int	timeoutMs
	)

static

Configures the forward soft limit.

Parameters

handle	handle of device.
forwardSensorLimit	Forward Sensor Position Limit (in Raw Sensor Units).
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigGetCustomParam()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigGetCustomParam	(	long	handle,
		int	paramIndex,
		int	timoutMs
	)

static

Gets the value of a custom parameter.

Parameters

handle	handle of device.
paramIndex	Index of custom parameter.
timoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

Returns: Value of the custom param.

◆ ConfigGetParameter()

static native double com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigGetParameter	(	long	handle,
		int	param,
		int	ordinal,
		int	timeoutMs
	)

static

Gets a parameter.

Parameters

handle	handle of device.
param	Parameter enumeration.
ordinal	Ordinal of parameter.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

Returns: Value of parameter.

◆ ConfigMaxIntegralAccumulator()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigMaxIntegralAccumulator	(	long	handle,
		int	slotIdx,
		double	iaccum,
		int	timeoutMs
	)

static

Sets the maximum integral accumulator in the given parameter slot.

Parameters

handle	handle of device.
slotIdx	Parameter slot for the constant.
iaccum	Value of the maximum integral accumulator.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigMotionAcceleration()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigMotionAcceleration	(	long	handle,
		int	sensorUnitsPer100msPerSec,
		int	timeoutMs
	)

static

Sets the Motion Magic Acceleration.

Parameters

handle	handle of device.
sensorUnitsPer100msPerSec	Motion Magic Acceleration (in Raw Sensor Units per 100 ms per second).
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigMotionCruiseVelocity()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigMotionCruiseVelocity	(	long	handle,
		int	sensorUnitsPer100ms,
		int	timeoutMs
	)

static

Sets the Motion Magic Cruise Velocity.

Parameters

handle	handle of device.
sensorUnitsPer100ms	Motion Magic Cruise Velocity (in Raw Sensor Units per 100 ms).
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigNeutralDeadband()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigNeutralDeadband	(	long	handle,
		double	percentDeadband,
		int	timeoutMs
	)

static

Configures the output deadband percentage.

Parameters

handle	handle of device.
percentDeadband	Desired deadband percentage. Minimum is 0.1%, Maximum is 25%.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigNominalOutputForward()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigNominalOutputForward	(	long	handle,
		double	percentOut,
		int	timeoutMs
	)

static

Configures the forward nominal output percentage.

Parameters

handle	handle of device.
percentOut	Nominal (minimum) percent output.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigNominalOutputReverse()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigNominalOutputReverse	(	long	handle,
		double	percentOut,
		int	timeoutMs
	)

static

Configures the reverse nominal output percentage.

Parameters

handle	handle of device.
percentOut	Nominal (minimum) percent output.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigOpenLoopRamp()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigOpenLoopRamp	(	long	handle,
		double	secondsFromNeutralToFull,
		int	timeoutMs
	)

static

Configures the open-loop ramp rate of throttle output.

Parameters

handle	handle of device.
secondsFromNeutralToFull	Minimum desired time to go from neutral to full throttle. A value of '0' will disable the ramp.
timeoutMs	Timeout value in ms. Function will generate error if config is not successful within timeout.

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

◆ ConfigPeakCurrentDuration()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigPeakCurrentDuration	(	long	handle,
		int	milliseconds,
		int	timeoutMs
	)

static

Configures the maximum time allowed at peak current limit of the motor controller.

Parameters

handle	handle of device.
milliseconds	Maximum time allowed at peak current limit (in milliseconds).
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigPeakCurrentLimit()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigPeakCurrentLimit	(	long	handle,
		int	amps,
		int	timeoutMs
	)

static

Configures the peak current limit of the motor controller.

Parameters

handle	handle of device.
amps	Peak current limit (in amps).
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigPeakOutputForward()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigPeakOutputForward	(	long	handle,
		double	percentOut,
		int	timeoutMs
	)

static

Configures the forward peak output percentage.

Parameters

handle	handle of device.
percentOut	Desired peak output percentage.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigPeakOutputReverse()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigPeakOutputReverse	(	long	handle,
		double	percentOut,
		int	timeoutMs
	)

static

Configures the reverse peak output percentage.

Parameters

handle	handle of device.
percentOut	Desired peak output percentage.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigRemoteFeedbackFilter()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigRemoteFeedbackFilter	(	long	handle,
		int	deviceID,
		int	remoteSensorSource,
		int	remoteOrdinal,
		int	timeoutMs
	)

static

Configures the remote feedback filter.

Parameters

handle	handle of device.
deviceID	ID of remote device.
remoteSensorSource	Type of remote sensor.
remoteOrdinal	Ordinal of remote source [0-1].
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigReverseLimitSwitchSource()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigReverseLimitSwitchSource	(	long	handle,
		int	type,
		int	normalOpenOrClose,
		int	deviceID,
		int	timeoutMs
	)

static

Configures the reverse limit switch for a remote source.

Parameters

handle	handle of device.
type	Remote limit switch source.

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

Parameters

normalOpenOrClose	Setting for normally open or normally closed.
deviceID	Device ID of remote source.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigReverseSoftLimitThreshold()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigReverseSoftLimitThreshold	(	long	handle,
		int	reverseSensorLimit,
		int	timeoutMs
	)

static

Configures the reverse soft limit.

Parameters

handle	handle of device.
reverseSensorLimit	Reverse Sensor Position Limit (in Raw Sensor Units).
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigSelectedFeedbackSensor()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigSelectedFeedbackSensor	(	long	handle,
		int	feedbackDevice,
		int	pidIdx,
		int	timeoutMs
	)

static

Select the feedback device for the motor controller.

Parameters

handle	handle of device.
feedbackDevice	Feedback Device to select.
pidIdx	Which closed loop to manipulate. 0 for primary, 1 for auxiliary
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigSetCustomParam()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigSetCustomParam	(	long	handle,
		int	newValue,
		int	paramIndex,
		int	timeoutMs
	)

static

Sets the value of a custom parameter.

Parameters

handle	handle of device.
newValue	Value for custom parameter.
paramIndex	Index of custom parameter.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigSetParameter()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigSetParameter	(	long	handle,
		int	param,
		double	value,
		int	subValue,
		int	ordinal,
		int	timeoutMs
	)

static

Sets a parameter.

Parameters

handle	handle of device.
param	Parameter enumeration.
value	Value of parameter.
subValue	Subvalue for parameter. Maximum value of 255.
ordinal	Ordinal of parameter.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigVelocityMeasurementPeriod()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigVelocityMeasurementPeriod	(	long	handle,
		int	period,
		int	timeoutMs
	)

static

Sets the period over which velocity measurements are taken.

Parameters

handle	handle of device.
period	Desired period for the velocity measurement.

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

Parameters

timeoutMs Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigVelocityMeasurementWindow()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigVelocityMeasurementWindow	(	long	handle,
		int	windowSize,
		int	timeoutMs
	)

static

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

Parameters

handle	handle of device.
windowSize	Number of samples in the rolling average of velocity measurement.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigVoltageCompSaturation()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigVoltageCompSaturation	(	long	handle,
		double	voltage,
		int	timeoutMs
	)

static

Configures the Voltage Compensation saturation voltage.

Parameters

handle	handle of device.
voltage	TO-DO: Comment me!
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ ConfigVoltageMeasurementFilter()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.ConfigVoltageMeasurementFilter	(	long	handle,
		int	filterWindowSamples,
		int	timeoutMs
	)

static

Configures the voltage measurement filter.

Parameters

handle	handle of device.
filterWindowSamples	Number of samples in the rolling average of voltage measurement.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ EnableCurrentLimit()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.EnableCurrentLimit	(	long	handle,
		boolean	enable
	)

static

Enables the current limit feature.

Parameters

handle	handle of device.
enable	Enable state of current limit.

◆ EnableVoltageCompensation()

static native void com.ctre.phoenix.motorcontrol.can.MotControllerJNI.EnableVoltageCompensation	(	long	handle,
		boolean	enable
	)

static

Enables voltage compensation. If enabled, voltage compensation works in all control modes.

Be sure to configure the saturation voltage before enabling this.

Parameters

handle	handle of device.
enable	Enable state of voltage compensation.

◆ GetBusVoltage()

static native double com.ctre.phoenix.motorcontrol.can.MotControllerJNI.GetBusVoltage ( long handle )

static

Gets the bus voltage seen by the motor controller.

Parameters

handle handle of device.

Returns: The bus voltage value (in volts).

◆ GetClosedLoopError()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.GetClosedLoopError	(	long	handle,
		int	pidIdx
	)

static

Gets the closed-loop error. The units depend on which control mode is in use.

If closed-loop is seeking a target sensor position, closed-loop error is the difference between target and current sensor value (in sensor units. Example 4096 units per rotation for CTRE Mag Encoder).

If closed-loop is seeking a target sensor velocity, closed-loop error is the difference between target and current sensor value (in sensor units per 100ms).

If using motion profiling or Motion Magic, closed loop error is calculated against the current target, and not the "final" target at the end of the profile/movement.

See Phoenix-Documentation information on units.

Parameters

handle	handle of device.
pidIdx	Which closed loop to manipulate. 0 for primary, 1 for auxiliary secondary loop.

Returns: Closed-loop error value.

◆ GetDeviceNumber()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.GetDeviceNumber ( long handle )

static

Returns the Device ID

Parameters

handle handle of device.

Returns: Device number.

◆ GetErrorDerivative()

static native double com.ctre.phoenix.motorcontrol.can.MotControllerJNI.GetErrorDerivative	(	long	handle,
		int	pidIdx
	)

static

Gets the derivative of the closed-loop error.

Parameters

handle	handle of device.
pidIdx	Which closed loop to manipulate. 0 for primary, 1 for auxiliary secondary loop.

Returns: Error derivative value.

◆ GetFirmwareVersion()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.GetFirmwareVersion ( long handle )

static

Gets the firmware version of the device.

Parameters

handle handle of device.

Returns: Firmware version of device.

◆ GetIntegralAccumulator()

static native double com.ctre.phoenix.motorcontrol.can.MotControllerJNI.GetIntegralAccumulator	(	long	handle,
		int	pidIdx
	)

static

Gets the iaccum value.

Parameters

handle	handle of device.
pidIdx	Which closed loop to manipulate. 0 for primary, 1 for auxiliary secondary loop.

Returns: Integral accumulator value.

◆ GetInverted()

static native boolean com.ctre.phoenix.motorcontrol.can.MotControllerJNI.GetInverted ( long handle )

static

Gets the invert state of the motor controller.

Parameters

handle handle of device.

Returns: The invert state.

◆ GetLastError()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.GetLastError ( long handle )

static

Gets the last error generated by this object.

Parameters

handle handle of device.

Returns: Last Error Code generated by a function.

◆ GetMotorOutputPercent()

static native double com.ctre.phoenix.motorcontrol.can.MotControllerJNI.GetMotorOutputPercent ( long handle )

static

Gets the output percentage of the motor controller.

Parameters

handle handle of device.

Returns: Output of the motor controller (in percent).

◆ GetOutputCurrent()

static native double com.ctre.phoenix.motorcontrol.can.MotControllerJNI.GetOutputCurrent ( long handle )

static

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.

Parameters

handle handle of device

Returns: The output current (in amps).

◆ GetSelectedSensorPosition()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.GetSelectedSensorPosition	(	long	handle,
		int	pidIdx
	)

static

Get the selected sensor position.

Parameters

handle	handle of device.
pidIdx	Which closed loop to manipulate. 0 for primary, 1 for auxiliary

Returns: Position of selected sensor (in Raw Sensor Units).

◆ GetSelectedSensorVelocity()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.GetSelectedSensorVelocity	(	long	handle,
		int	pidIdx
	)

static

Get the selected sensor velocity.

Parameters

handle	handle of device.
pidIdx	Which closed loop to manipulate. 0 for primary, 1 for auxiliary

Returns: Velocity of selected sensor (in Raw Sensor Units per 100 ms).

◆ GetStatorCurrent()

static native double com.ctre.phoenix.motorcontrol.can.MotControllerJNI.GetStatorCurrent ( long handle )

static

Gets the stator/output current of the motor controller.

Parameters

handle handle of device

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

◆ GetStatusFramePeriod()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.GetStatusFramePeriod	(	long	handle,
		int	frame,
		int	timeoutMs
	)

static

Gets the period of the given status frame.

Parameters

handle	handle of device.
frame	Frame to get the period of.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

Returns: The period of the given status frame.

◆ GetSupplyCurrent()

static native double com.ctre.phoenix.motorcontrol.can.MotControllerJNI.GetSupplyCurrent ( long handle )

static

Gets the stator/output current of the motor controller.

Parameters

handle handle of device

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

◆ GetTemperature()

static native double com.ctre.phoenix.motorcontrol.can.MotControllerJNI.GetTemperature ( long handle )

static

Gets the temperature of the motor controller.

Parameters

handle handle of device.

Returns: The temperature of the motor controller (in 'C)

◆ HasResetOccurred()

static native boolean com.ctre.phoenix.motorcontrol.can.MotControllerJNI.HasResetOccurred ( long handle )

static

Returns true if the device has reset.

Parameters

handle handle of device.

Returns: Has a Device Reset Occurred?

◆ OverrideLimitSwitchesEnable()

static native void com.ctre.phoenix.motorcontrol.can.MotControllerJNI.OverrideLimitSwitchesEnable	(	long	handle,
		boolean	enable
	)

static

Sets the enable state for limit switches.

Parameters

handle	handle of device.
enable	Enable state for limit switches.

◆ OverrideSoftLimitsEnable()

static native void com.ctre.phoenix.motorcontrol.can.MotControllerJNI.OverrideSoftLimitsEnable	(	long	handle,
		boolean	enable
	)

static

Sets the enable state for soft limit switches.

Parameters

handle	handle of device.
enable	Enable state for soft limit switches.

◆ SelectProfileSlot()

static native void com.ctre.phoenix.motorcontrol.can.MotControllerJNI.SelectProfileSlot	(	long	handle,
		int	slotIdx,
		int	pidIdx
	)

static

Selects which profile slot to use for closed-loop control.

Parameters

handle	handle of device.
slotIdx	Profile slot to select.
pidIdx	Which closed loop to manipulate. 0 for primary, 1 for auxiliary secondary loop.

◆ Set_4()

static native void com.ctre.phoenix.motorcontrol.can.MotControllerJNI.Set_4	(	long	handle,
		int	mode,
		double	demand0,
		double	demand1,
		int	demand1Type
	)

static

Sets the demand (output) of the motor controller.

◆ SetControlFramePeriod()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.SetControlFramePeriod	(	long	handle,
		int	frame,
		int	periodMs
	)

static

Sets the period of the given control frame.

Parameters

handle	handle of device.
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.

◆ SetDemand()

static native void com.ctre.phoenix.motorcontrol.can.MotControllerJNI.SetDemand	(	long	handle,
		int	mode,
		int	demand0,
		int	demand1
	)

static

Sets the demand (output) of the motor controller.

Parameters

handle	handle of device.
mode	Control Mode of the Motor Controller
demand0	Primary Demand value
demand1	Secondary Demand value

◆ SetIntegralAccumulator()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.SetIntegralAccumulator	(	long	handle,
		double	iaccum,
		int	pidIdx,
		int	timeoutMs
	)

static

Sets the integral accumulator.

Parameters

handle	handle of device.
iaccum	Value to set for the integral accumulator.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

Parameters

pidIdx Which closed loop to manipulate. 0 for primary, 1 for auxiliary secondary loop.

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

◆ SetInverted()

static native void com.ctre.phoenix.motorcontrol.can.MotControllerJNI.SetInverted	(	long	handle,
		boolean	invert
	)

static

Inverts the output of the motor controller. LEDs, sensor phase, and limit switches will also be inverted to match the new forward/reverse directions.

Parameters

handle	handle of device.
invert	Invert state to set.

◆ SetInverted_2()

static native void com.ctre.phoenix.motorcontrol.can.MotControllerJNI.SetInverted_2	(	long	handle,
		int	invert
	)

static

Inverts the output of the motor controller. LEDs, sensor phase, and limit switches will also be inverted to match the new forward/reverse directions.

Parameters

handle	handle of device.
invert	Invert state to set.

◆ SetNeutralMode()

static native void com.ctre.phoenix.motorcontrol.can.MotControllerJNI.SetNeutralMode	(	long	handle,
		int	neutralMode
	)

static

Sets the mode of operation during neutral throttle output.

Parameters

handle	handle of device.
neutralMode	The desired mode of operation when the Controller output throttle is neutral (ie brake/coast)

◆ SetSelectedSensorPosition()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.SetSelectedSensorPosition	(	long	handle,
		int	sensorPos,
		int	pidIdx,
		int	timeoutMs
	)

static

Sets the sensor position to the given value.

Parameters

handle	handle of device.
sensorPos	Position to set for the selected sensor (in Raw Sensor Units).
pidIdx	Which closed loop to manipulate. 0 for primary, 1 for auxiliary
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

◆ SetSensorPhase()

static native void com.ctre.phoenix.motorcontrol.can.MotControllerJNI.SetSensorPhase	(	long	handle,
		boolean	PhaseSensor
	)

static

Sets the phase of the sensor. Use when controller forward/reverse output doesn't correlate to appropriate forward/reverse reading of sensor.

Parameters

handle	handle of device.
PhaseSensor	Indicates whether to invert the phase of the sensor.

◆ SetStatusFramePeriod()

static native int com.ctre.phoenix.motorcontrol.can.MotControllerJNI.SetStatusFramePeriod	(	long	handle,
		int	frame,
		int	periodMs,
		int	timeoutMs
	)

static

Sets the period of the given status frame.

Parameters

handle	handle of device.
frame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.
timeoutMs	Timeout value in ms.

See also: ConfigOpenLoopRamp

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

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

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

Static Public Member Functions

Member Function Documentation

◆ Config_IntegralZone()

◆ Config_kD()

◆ Config_kF()

◆ Config_kI()

◆ Config_kP()

◆ ConfigAllowableClosedloopError()

◆ ConfigClosedLoopRamp()

◆ ConfigContinuousCurrentLimit()

◆ ConfigFactoryDefault()

◆ ConfigForwardLimitSwitchSource()

◆ ConfigForwardSoftLimitThreshold()

◆ ConfigGetCustomParam()

◆ ConfigGetParameter()

◆ ConfigMaxIntegralAccumulator()

◆ ConfigMotionAcceleration()

◆ ConfigMotionCruiseVelocity()

◆ ConfigNeutralDeadband()

◆ ConfigNominalOutputForward()

◆ ConfigNominalOutputReverse()

◆ ConfigOpenLoopRamp()

◆ ConfigPeakCurrentDuration()

◆ ConfigPeakCurrentLimit()

◆ ConfigPeakOutputForward()

◆ ConfigPeakOutputReverse()

◆ ConfigRemoteFeedbackFilter()

◆ ConfigReverseLimitSwitchSource()

◆ ConfigReverseSoftLimitThreshold()

◆ ConfigSelectedFeedbackSensor()

◆ ConfigSetCustomParam()

◆ ConfigSetParameter()

◆ ConfigVelocityMeasurementPeriod()

◆ ConfigVelocityMeasurementWindow()

◆ ConfigVoltageCompSaturation()

◆ ConfigVoltageMeasurementFilter()

◆ EnableCurrentLimit()

◆ EnableVoltageCompensation()

◆ GetBusVoltage()

◆ GetClosedLoopError()

◆ GetDeviceNumber()

◆ GetErrorDerivative()

◆ GetFirmwareVersion()

◆ GetIntegralAccumulator()

◆ GetInverted()

◆ GetLastError()

◆ GetMotorOutputPercent()

◆ GetOutputCurrent()

◆ GetSelectedSensorPosition()

◆ GetSelectedSensorVelocity()

◆ GetStatorCurrent()

◆ GetStatusFramePeriod()

◆ GetSupplyCurrent()

◆ GetTemperature()

◆ HasResetOccurred()

◆ OverrideLimitSwitchesEnable()

◆ OverrideSoftLimitsEnable()

◆ SelectProfileSlot()

◆ Set_4()

◆ SetControlFramePeriod()

◆ SetDemand()

◆ SetIntegralAccumulator()

◆ SetInverted()

◆ SetInverted_2()

◆ SetNeutralMode()

◆ SetSelectedSensorPosition()

◆ SetSensorPhase()

◆ SetStatusFramePeriod()