Inherits com.ctre.phoenix.motorcontrol.can.BaseTalon.
Inherited by com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX.
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.
// Example usage of a TalonSRX motor controller
TalonSRX motor = new TalonSRX(0); // creates a new TalonSRX with ID 0
TalonSRXConfiguration config = new TalonSRXConfiguration();
config.peakCurrentLimit = 40; // the peak current, in amps
config.peakCurrentDuration = 1500; // the time at the peak current before the limit triggers, in ms
config.continuousCurrentLimit = 30; // the current to maintain if the peak limit is triggered
motor.configAllSettings(config); // apply the config settings; this selects the quadrature encoder
motor.set(TalonSRXControlMode.PercentOutput, 0.5); // runs the motor at 50% power
System.out.println(motor.getSelectedSensorPosition()); // prints the position of the selected sensor
System.out.println(motor.getSelectedSensorVelocity()); // prints the velocity recorded by the selected sensor
System.out.println(motor.getMotorOutputPercent()); // prints the percent output of the motor (0.5)
System.out.println(motor.getStatorCurrent()); // prints the output current of the motor
ErrorCode error = motor.getLastError(); // gets the last error generated by the motor controller
Faults faults = new Faults();
ErrorCode faultsError = motor.getFaults(faults); // fills faults with the current motor controller faults; returns the last error generated
motor.setStatusFramePeriod(StatusFrame.Status_2_Feedback0, 10); // changes the period of the Status 2 frame (getSelectedSensor*()) to 10ms
Constructor & Destructor Documentation
◆ TalonSRX()
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inline |
Constructor for TalonSRX object
- Parameters
-
deviceNumber CAN Device ID of Device
Member Function Documentation
◆ configAllSettings() [1/2]
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inline |
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]
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inline |
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.
◆ configContinuousCurrentLimit() [1/2]
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inline |
Configure the continuous allowable current-draw (when current limit is enabled).
Supply current limiting is also available via configSupplyCurrentLimit(), which is a common routine with Talon FX.
Current limit is activated when current exceeds the peak limit for longer than the peak duration. Then software will limit to the continuous limit. This ensures current limiting while allowing for momentary excess current events.
For simpler current-limiting (single threshold) use ConfigContinuousCurrentLimit() and set the peak to zero: ConfigPeakCurrentLimit(0).
- Parameters
-
amps Amperes to limit.
- Returns
- Error Code generated by function. 0 indicates no error.
◆ configContinuousCurrentLimit() [2/2]
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inline |
Configure the continuous allowable current-draw (when current limit is enabled).
Supply current limiting is also available via configSupplyCurrentLimit(), which is a common routine with Talon FX.
Current limit is activated when current exceeds the peak limit for longer than the peak duration. Then software will limit to the continuous limit. This ensures current limiting while allowing for momentary excess current events.
For simpler current-limiting (single threshold) use ConfigContinuousCurrentLimit() and set the peak to zero: ConfigPeakCurrentLimit(0).
- Parameters
-
amps Amperes to limit. 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.
◆ configPeakCurrentDuration() [1/2]
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inline |
Configure the peak allowable duration (when current limit is enabled).
Supply current limiting is also available via configSupplyCurrentLimit(), which is a common routine with Talon FX.
Current limit is activated when current exceeds the peak limit for longer than the peak duration. Then software will limit to the continuous limit. This ensures current limiting while allowing for momentary excess current events.
For simpler current-limiting (single threshold) use ConfigContinuousCurrentLimit() and set the peak to zero: ConfigPeakCurrentLimit(0).
- Parameters
-
milliseconds How long to allow current-draw past peak limit.
- Returns
- Error Code generated by function. 0 indicates no error.
◆ configPeakCurrentDuration() [2/2]
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inline |
Configure the peak allowable duration (when current limit is enabled).
Supply current limiting is also available via configSupplyCurrentLimit(), which is a common routine with Talon FX.
Current limit is activated when current exceeds the peak limit for longer than the peak duration. Then software will limit to the continuous limit. This ensures current limiting while allowing for momentary excess current events.
For simpler current-limiting (single threshold) use ConfigContinuousCurrentLimit() and set the peak to zero: ConfigPeakCurrentLimit(0).
- Parameters
-
milliseconds How long to allow current-draw past peak limit. 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.
◆ configPeakCurrentLimit() [1/2]
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inline |
Configure the peak allowable current (when current limit is enabled).
Supply current limiting is also available via configSupplyCurrentLimit(), which is a common routine with Talon FX.
Current limit is activated when current exceeds the peak limit for longer than the peak duration. Then software will limit to the continuous limit. This ensures current limiting while allowing for momentary excess current events.
For simpler current-limiting (single threshold) use ConfigContinuousCurrentLimit() and set the peak to zero: ConfigPeakCurrentLimit(0).
- Parameters
-
amps Amperes to limit.
- Returns
- Error Code generated by function. 0 indicates no error.
◆ configPeakCurrentLimit() [2/2]
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inline |
Configure the peak allowable current (when current limit is enabled).
Supply current limiting is also available via configSupplyCurrentLimit(), which is a common routine with Talon FX.
Current limit is activated when current exceeds the peak limit for longer than the peak duration. Then software will limit to the continuous limit. This ensures current limiting while allowing for momentary excess current events.
For simpler current-limiting (single threshold) use ConfigContinuousCurrentLimit() and set the peak to zero: ConfigPeakCurrentLimit(0).
- Parameters
-
amps Amperes to limit. 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.
◆ configSelectedFeedbackSensor()
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inline |
Select the feedback device for the motor controller.
- Parameters
-
feedbackDevice Talon SRX Feedback Device to select. 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.
- Returns
- Error Code generated by function. 0 indicates no error.
◆ configSupplyCurrentLimit() [1/2]
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inline |
Configures the supply (input) current limit.
- Parameters
-
currLimitConfigs Current limit configuration
- Returns
- Error Code generated by function. 0 indicates no error.
◆ configSupplyCurrentLimit() [2/2]
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inline |
Configures the supply (input) current limit.
- Parameters
-
currLimitConfigs 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.
Reimplemented from com.ctre.phoenix.motorcontrol.can.BaseTalon.
◆ configurePID() [1/2]
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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]
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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.
- Returns
- Error Code generated by function. 0 indicates no error.
◆ enableCurrentLimit()
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inline |
Enable or disable Current Limit.
Supply current limiting is also available via configSupplyCurrentLimit(), which is a common routine with Talon FX.
- Parameters
-
enable Enable state of current limit.
◆ getAllConfigs() [1/2]
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inline |
Gets all persistant settings (overloaded so timeoutMs is 50 ms).
- Parameters
-
allConfigs Object with all of the persistant settings
◆ getAllConfigs() [2/2]
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inline |
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.
◆ getPIDConfigs() [1/2]
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inline |
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]
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inline |
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.
◆ getSensorCollection()
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inline |
- Returns
- object that can get/set individual raw sensor values.
◆ getSimCollection()
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inline |
- Returns
- object that can get/set simulation inputs.
◆ set() [1/2]
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inline |
- Parameters
-
mode Sets the appropriate output on the talon, depending on the mode. demand0 The output value to apply. such as advanced feed forward and/or auxiliary close-looping in firmware. In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped. In Current mode, output value is in amperes. In Velocity mode, output value is in position change / 100ms. In Position mode, output value is in encoder ticks or an analog value, depending on the sensor. See In Follower mode, the output value is the integer device ID of the talon to duplicate. demand1Type The demand type for demand1. Neutral: Ignore demand1 and apply no change to the demand0 output. AuxPID: Use demand1 to set the target for the auxiliary PID 1. Auxiliary PID is always executed as standard Position PID control. ArbitraryFeedForward: Use demand1 as an arbitrary additive value to the demand0 output. In PercentOutput the demand0 output is the motor output, and in closed-loop modes the demand0 output is the output of PID0. demand1 Supplmental output value. AuxPID: Target position in Sensor Units ArbitraryFeedForward: Percent Output between -1.0 and 1.0
Arcade Drive Example: _talonLeft.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, +joyTurn); _talonRght.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, -joyTurn);
Drive Straight Example: Note: Selected Sensor Configuration is necessary for both PID0 and PID1. _talonLeft.follow(_talonRght, FollwerType.AuxOutput1); _talonRght.set(ControlMode.PercentOutput, joyForward, DemandType.AuxPID, desiredRobotHeading);
Drive Straight to a Distance Example: Note: Other configurations (sensor selection, PID gains, etc.) need to be set. _talonLeft.follow(_talonRght, FollwerType.AuxOutput1); _talonRght.set(ControlMode.MotionMagic, targetDistance, DemandType.AuxPID, desiredRobotHeading);
◆ set() [2/2]
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inline |
Sets the appropriate output on the talon, depending on the mode.
- Parameters
-
mode The output mode to apply. In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped. In Current mode, output value is in amperes. In Velocity mode, output value is in position change / 100ms. In Position mode, output value is in encoder ticks or an analog value, depending on the sensor. In Follower mode, the output value is the integer device ID of the talon to duplicate. value The setpoint value, as described above.
Standard Driving Example: _talonLeft.set(ControlMode.PercentOutput, leftJoy); _talonRght.set(ControlMode.PercentOutput, rghtJoy);
The documentation for this class was generated from the following file:
- Phoenix-api/java/src/main/java/com/ctre/phoenix/motorcontrol/can/TalonSRX.java
