CTRE_Phoenix 5.20.2
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Inherits com.ctre.phoenix.motorcontrol.can.BaseTalonConfiguration.
Public Member Functions | |
String | toString () |
String | toString (String prependString) |
Public Member Functions inherited from com.ctre.phoenix.motorcontrol.can.BaseTalonConfiguration | |
BaseTalonConfiguration (FeedbackDevice defaultFeedbackDevice) | |
String | toString () |
String | toString (String prependString) |
String | toString () |
String | toString (String prependString) |
String | toString () |
String | toString (String prependString) |
Configurables available to TalonFX
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Reimplemented from com.ctre.phoenix.motorcontrol.can.BaseTalonConfiguration.
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prependString | String to prepend to all the configs |
Reimplemented from com.ctre.phoenix.motorcontrol.can.BaseTalonConfiguration.
AbsoluteSensorRange com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration.absoluteSensorRange = AbsoluteSensorRange.Unsigned_0_to_360 |
Desired Sign / Range for the absolute position register. Choose unsigned for an absolute range of[0, +1) rotations, [0, 360) deg, etc. Choose signed for an absolute range of[-0.5, +0.5) rotations, [-180, +180) deg, etc.
SensorInitializationStrategy com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration.initializationStrategy = SensorInitializationStrategy.BootToZero |
The sensor initialization strategy to use.This will impact the behavior the next time device boots up.
Pick the strategy on how to initialize the "Position" register. Depending on the mechanism, it may be desirable to auto set the Position register to match the Absolute Position(swerve for example). Or it may be desired to zero the sensor on boot(drivetrain translation sensor or a relative servo).
TIP: Tuner's self-test feature will report what the boot sensor value will be in the event the device is reset.
double com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration.integratedSensorOffsetDegrees = 0 |
Adjusts the zero point for the absolute position register. The absolute position of the sensor will always have a discontinuity (360 -> 0 deg) or (+180 -> -180) and a hard-limited mechanism may have such a discontinuity in its functional range. In which case use this config to move the discontinuity outside of the function range.
MotorCommutation com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration.motorCommutation = MotorCommutation.Trapezoidal |
Choose the type of motor commutation.
StatorCurrentLimitConfiguration com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration.statorCurrLimit = new StatorCurrentLimitConfiguration() |
Stator-side current limiting. This is typically used to limit acceleration/torque and heat generation.
SupplyCurrentLimitConfiguration com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration.supplyCurrLimit = new SupplyCurrentLimitConfiguration() |
Supply-side current limiting. This is typically used to prevent breakers from tripping.