Inherits com.ctre.phoenix.signals.IOutputSignal, com.ctre.phoenix.signals.IInvertable, and com.ctre.phoenix.motorcontrol.IFollower.

Inherited by com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced, com.ctre.phoenix.motorcontrol.can.BaseMotorController, and com.ctre.phoenix.motorcontrol.can.VictorSPX.

Public Member Functions
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 ()

Public Member Functions inherited from com.ctre.phoenix.motorcontrol.IFollower
void	follow (IMotorController masterToFollow)

void	valueUpdated ()

Detailed Description

Interface for motor controllers

Member Function Documentation

◆ changeMotionControlFramePeriod()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.changeMotionControlFramePeriod ( int periodMs )

Calling application can opt to speed up the handshaking between the robot API and the controller to increase the download rate of the controller's Motion Profile. Ideally the period should be no more than half the period of a trajectory point.

Parameters

periodMs The transmit period in ms.

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

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ clearMotionProfileHasUnderrun()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.clearMotionProfileHasUnderrun ( int timeoutMs )

Clear the "Has Underrun" flag. Typically this is called after application has confirmed an underrun had occured.

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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ clearMotionProfileTrajectories()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.clearMotionProfileTrajectories ( )

Clear the buffered motion profile in both controller's RAM (bottom), and in the API (top).

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

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ clearStickyFaults()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.clearStickyFaults ( int timeoutMs )

Clears all sticky faults.

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: Last Error Code generated by a function.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ config_IntegralZone()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.config_IntegralZone	(	int	slotIdx,
		double	izone,
		int	timeoutMs
	)

Sets the Integral Zone constant in the given parameter slot. If the (absolute) closed-loop error is outside of this zone, integral accumulator is automatically cleared. This ensures than integral wind up events will stop after the sensor gets far enough from its target.

Parameters

slotIdx	Parameter slot for the constant.
izone	Value of the Integral Zone constant (closed loop error units X 1ms).
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ config_kD()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.config_kD	(	int	slotIdx,
		double	value,
		int	timeoutMs
	)

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

slotIdx	Parameter slot for the constant.
value	Value of the D constant.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ config_kF()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.config_kF	(	int	slotIdx,
		double	value,
		int	timeoutMs
	)

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

slotIdx	Parameter slot for the constant.
value	Value of the F constant.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ config_kI()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.config_kI	(	int	slotIdx,
		double	value,
		int	timeoutMs
	)

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

slotIdx	Parameter slot for the constant.
value	Value of the I constant.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ config_kP()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.config_kP	(	int	slotIdx,
		double	value,
		int	timeoutMs
	)

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

slotIdx	Parameter slot for the constant.
value	Value of the P constant.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configAllowableClosedloopError()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configAllowableClosedloopError	(	int	slotIdx,
		double	allowableCloseLoopError,
		int	timeoutMs
	)

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

Parameters

slotIdx	Parameter slot for the constant.
allowableCloseLoopError	Value of the allowable closed-loop error in sensor units (or sensor units per 100ms for velocity).
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configAuxPIDPolarity()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configAuxPIDPolarity	(	boolean	invert,
		int	timeoutMs
	)

Configures the Polarity of the Auxiliary PID (PID1).

Standard Polarity: Primary Output = PID0 + PID1, Auxiliary Output = PID0 - PID1,

Inverted Polarity: Primary Output = PID0 - PID1, Auxiliary Output = PID0 + PID1,

Parameters

invert	If true, use inverted PID1 output polarity.
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

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configClosedLoopPeakOutput()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configClosedLoopPeakOutput	(	int	slotIdx,
		double	percentOut,
		int	timeoutMs
	)

Sets the peak closed-loop output. This peak output is slot-specific and is applied to the output of the associated PID loop. This setting is seperate from the generic Peak Output setting.

Parameters

slotIdx	Parameter slot for the constant.
percentOut	Peak Percent Output from 0 to 1. This value is absolute and the magnitude will apply in both forward and reverse directions.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configClosedLoopPeriod()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configClosedLoopPeriod	(	int	slotIdx,
		int	loopTimeMs,
		int	timeoutMs
	)

Sets the loop time (in milliseconds) of the PID closed-loop calculations. Default value is 1 ms.

Parameters

slotIdx	Parameter slot for the constant.
loopTimeMs	Loop timing of the closed-loop calculations. Minimum value of 1 ms, maximum of 64 ms.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configClosedloopRamp()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configClosedloopRamp	(	double	secondsFromNeutralToFull,
		int	timeoutMs
	)

Configures the closed-loop ramp rate of throttle output.

Parameters

secondsFromNeutralToFull	Minimum desired time to go from neutral to full throttle. A value of '0' will disable the ramp.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configForwardLimitSwitchSource()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configForwardLimitSwitchSource	(	RemoteLimitSwitchSource	type,
		LimitSwitchNormal	normalOpenOrClose,
		int	deviceID,
		int	timeoutMs
	)

Configures the forward limit switch for a remote source. For example, a CAN motor controller may need to monitor the Limit-F pin of another Talon or CANifier.

Parameters

type	Remote limit switch source. User can choose between a 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.
deviceID	Device ID of remote source (Talon SRX or CANifier device ID).
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configForwardSoftLimitEnable()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configForwardSoftLimitEnable	(	boolean	enable,
		int	timeoutMs
	)

Configures the forward soft limit enable.

Parameters

enable	Forward Sensor Position Limit Enable.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configForwardSoftLimitThreshold()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configForwardSoftLimitThreshold	(	double	forwardSensorLimit,
		int	timeoutMs
	)

Configures the forward soft limit threhold.

Parameters

forwardSensorLimit	Forward Sensor Position Limit (in raw sensor units).
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configGetCustomParam()

int com.ctre.phoenix.motorcontrol.IMotorController.configGetCustomParam	(	int	paramIndex,
		int	timeoutMs
	)

Gets the value of a custom parameter.

Parameters

paramIndex	Index of custom parameter [0,1].
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: Value of the custom param.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configGetParameter() [1/2]

double com.ctre.phoenix.motorcontrol.IMotorController.configGetParameter	(	int	paramEnum,
		int	ordinal,
		int	timeoutMs
	)

Gets a parameter.

Parameters

paramEnum	Parameter enumeration.
ordinal	Ordinal of parameter.
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: Value of parameter.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configGetParameter() [2/2]

double com.ctre.phoenix.motorcontrol.IMotorController.configGetParameter	(	ParamEnum	paramEnum,
		int	ordinal,
		int	timeoutMs
	)

Gets a parameter.

Parameters

paramEnum	Parameter enumeration.
ordinal	Ordinal of parameter.
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: Value of parameter.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configMaxIntegralAccumulator()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configMaxIntegralAccumulator	(	int	slotIdx,
		double	iaccum,
		int	timeoutMs
	)

Sets the maximum integral accumulator in the given parameter slot.

Parameters

slotIdx	Parameter slot for the constant.
iaccum	Value of the maximum integral accumulator (closed loop error units X 1ms).
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configMotionAcceleration()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configMotionAcceleration	(	double	sensorUnitsPer100msPerSec,
		int	timeoutMs
	)

Sets the Motion Magic Acceleration. This is the target acceleration that the motion magic curve generator can use.

Parameters

sensorUnitsPer100msPerSec	Motion Magic Acceleration (in raw sensor units per 100 ms per second).
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configMotionCruiseVelocity()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configMotionCruiseVelocity	(	double	sensorUnitsPer100ms,
		int	timeoutMs
	)

Sets the Motion Magic Cruise Velocity. This is the peak target velocity that the motion magic curve generator can use.

Parameters

sensorUnitsPer100ms	Motion Magic Cruise Velocity (in raw sensor units per 100 ms).
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configMotionProfileTrajectoryPeriod()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configMotionProfileTrajectoryPeriod	(	int	baseTrajDurationMs,
		int	timeoutMs
	)

When trajectory points are processed in the motion profile executer, the MPE determines how long to apply the active trajectory point by summing baseTrajDurationMs with the timeDur of the trajectory point (see TrajectoryPoint).

This allows general selection of the execution rate of the points with 1ms resolution, while allowing some degree of change from point to point.

Parameters

baseTrajDurationMs	The base duration time of every trajectory point. This is summed with the trajectory points unique timeDur.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configMotionSCurveStrength()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configMotionSCurveStrength	(	int	curveStrength,
		int	timeoutMs
	)

Sets the Motion Magic S Curve Strength. Call this before using Motion Magic. Modifying this during a Motion Magic action should be avoided.

Parameters

curveStrength	0 to use Trapezoidal Motion Profile. [1,8] for S-Curve (greater value yields greater smoothing).
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configNeutralDeadband()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configNeutralDeadband	(	double	percentDeadband,
		int	timeoutMs
	)

Configures the output deadband percentage.

Parameters

percentDeadband	Desired deadband percentage. Minimum is 0.1%, Maximum is 25%. Pass 0.04 for 4% (factory default).
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configNominalOutputForward()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configNominalOutputForward	(	double	percentOut,
		int	timeoutMs
	)

Configures the forward nominal output percentage.

Parameters

percentOut	Nominal (minimum) percent output. [0,+1]
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configNominalOutputReverse()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configNominalOutputReverse	(	double	percentOut,
		int	timeoutMs
	)

Configures the reverse nominal output percentage.

Parameters

percentOut	Nominal (minimum) percent output. [-1,0]
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configOpenloopRamp()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configOpenloopRamp	(	double	secondsFromNeutralToFull,
		int	timeoutMs
	)

Configures the open-loop ramp rate of throttle output.

Parameters

secondsFromNeutralToFull	Minimum desired time to go from neutral to full throttle. A value of '0' will disable the ramp.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configPeakOutputForward()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configPeakOutputForward	(	double	percentOut,
		int	timeoutMs
	)

Configures the forward peak output percentage.

Parameters

percentOut	Desired peak output percentage. [0,1]
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configPeakOutputReverse()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configPeakOutputReverse	(	double	percentOut,
		int	timeoutMs
	)

Configures the reverse peak output percentage.

Parameters

percentOut	Desired peak output percentage.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configRemoteFeedbackFilter() [1/3]

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configRemoteFeedbackFilter	(	BaseTalon	talonRef,
		int	remoteOrdinal,
		int	timeoutMs
	)

Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1. After binding a remote device and signal to Remote Sensor X, you may select Remote Sensor X as a PID source for closed-loop features.

Parameters

talonRef	Talon device reference to use.
remoteOrdinal	0 for configuring Remote Sensor 0, 1 for configuring Remote Sensor 1
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configRemoteFeedbackFilter() [2/3]

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configRemoteFeedbackFilter	(	CANCoder	canCoderRef,
		int	remoteOrdinal,
		int	timeoutMs
	)

Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1. After binding a remote device and signal to Remote Sensor X, you may select Remote Sensor X as a PID source for closed-loop features.

Parameters

canCoderRef	CANCoder device reference to use.
remoteOrdinal	0 for configuring Remote Sensor 0, 1 for configuring Remote Sensor 1
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configRemoteFeedbackFilter() [3/3]

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configRemoteFeedbackFilter	(	int	deviceID,
		RemoteSensorSource	remoteSensorSource,
		int	remoteOrdinal,
		int	timeoutMs
	)

Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1. After binding a remote device and signal to Remote Sensor X, you may select Remote Sensor X as a PID source for closed-loop features.

Parameters

deviceID	The device ID of the remote sensor device.
remoteSensorSource	The remote sensor device and signal type to bind.
remoteOrdinal	0 for configuring Remote Sensor 0, 1 for configuring Remote Sensor 1
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configReverseLimitSwitchSource()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configReverseLimitSwitchSource	(	RemoteLimitSwitchSource	type,
		LimitSwitchNormal	normalOpenOrClose,
		int	deviceID,
		int	timeoutMs
	)

Configures the reverse limit switch for a remote source. For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon or CANifier.

Parameters

type	Remote limit switch source. User can choose between a 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.
deviceID	Device ID of remote source (Talon SRX or CANifier device ID).
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configReverseSoftLimitEnable()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configReverseSoftLimitEnable	(	boolean	enable,
		int	timeoutMs
	)

Configures the reverse soft limit enable.

Parameters

enable	Reverse Sensor Position Limit Enable.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configReverseSoftLimitThreshold()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configReverseSoftLimitThreshold	(	double	reverseSensorLimit,
		int	timeoutMs
	)

Configures the reverse soft limit threshold.

Parameters

reverseSensorLimit	Reverse Sensor Position Limit (in raw sensor units).
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configSelectedFeedbackCoefficient()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configSelectedFeedbackCoefficient	(	double	coefficient,
		int	pidIdx,
		int	timeoutMs
	)

The Feedback Coefficient is a scalar applied to the value of the feedback sensor. Useful when you need to scale your sensor values within the closed-loop calculations. Default value is 1.

Selected Feedback Sensor register in firmware is the decoded sensor value multiplied by the Feedback Coefficient.

Parameters

coefficient	Feedback Coefficient value. Maximum value of 1. Resolution is 1/(2^16). Cannot be 0.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configSelectedFeedbackSensor()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configSelectedFeedbackSensor	(	RemoteFeedbackDevice	feedbackDevice,
		int	pidIdx,
		int	timeoutMs
	)

Select the remote feedback device for the motor controller. Most CTRE CAN motor controllers will support remote sensors over CAN.

Parameters

feedbackDevice	Remote 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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configSensorTerm()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configSensorTerm	(	SensorTerm	sensorTerm,
		FeedbackDevice	feedbackDevice,
		int	timeoutMs
	)

Select what sensor term should be bound to switch feedback device. Sensor Sum = Sensor Sum Term 0 - Sensor Sum Term 1 Sensor Difference = Sensor Diff Term 0 - Sensor Diff Term 1 The four terms are specified with this routine. Then Sensor Sum/Difference can be selected for closed-looping.

Parameters

sensorTerm	Which sensor term to bind to a feedback source.
feedbackDevice	The sensor signal to attach to sensorTerm.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configSetCustomParam()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configSetCustomParam	(	int	newValue,
		int	paramIndex,
		int	timeoutMs
	)

Sets the value of a custom parameter. This is for arbitrary use.

Sometimes it is necessary to save calibration/limit/target information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

newValue	Value for custom parameter.
paramIndex	Index of custom parameter [0,1]
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configSetParameter() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configSetParameter	(	int	param,
		double	value,
		int	subValue,
		int	ordinal,
		int	timeoutMs
	)

Sets a parameter.

Parameters

param	Parameter enumeration.
value	Value of parameter.
subValue	Subvalue for parameter. Maximum value of 255.
ordinal	Ordinal of parameter.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configSetParameter() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configSetParameter	(	ParamEnum	param,
		double	value,
		int	subValue,
		int	ordinal,
		int	timeoutMs
	)

Sets a parameter. Generally this is not used. This can be utilized in - Using new features without updating API installation. - Errata workarounds to circumvent API implementation. - Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
value	Value of parameter.
subValue	Subvalue for parameter. Maximum value of 255.
ordinal	Ordinal of parameter.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configVoltageCompSaturation()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configVoltageCompSaturation	(	double	voltage,
		int	timeoutMs
	)

Configures the Voltage Compensation saturation voltage.

Parameters

voltage	This is the max voltage to apply to the hbridge when voltage compensation is enabled. For example, if 10 (volts) is specified and a TalonSRX is commanded to 0.5 (PercentOutput, closed-loop, etc) then the TalonSRX will attempt to apply a duty-cycle to produce 5V.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ configVoltageMeasurementFilter()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.configVoltageMeasurementFilter	(	int	filterWindowSamples,
		int	timeoutMs
	)

Configures the voltage measurement filter.

Parameters

filterWindowSamples	Number of samples in the rolling average of voltage measurement.
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ enableVoltageCompensation()

void com.ctre.phoenix.motorcontrol.IMotorController.enableVoltageCompensation ( boolean enable )

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

Be sure to configure the saturation voltage before enabling this.

Parameters

enable Enable state of voltage compensation.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getActiveTrajectoryPosition()

double com.ctre.phoenix.motorcontrol.IMotorController.getActiveTrajectoryPosition ( )

Gets the active trajectory target position for pid0 using MotionMagic/MotionProfile control modes.

Returns: The Active Trajectory Position in sensor units.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getActiveTrajectoryVelocity()

double com.ctre.phoenix.motorcontrol.IMotorController.getActiveTrajectoryVelocity ( )

Gets the active trajectory target velocity for pid0 using MotionMagic/MotionProfile control modes.

Returns: The Active Trajectory Velocity in sensor units per 100ms.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getBaseID()

int com.ctre.phoenix.motorcontrol.IMotorController.getBaseID ( )

Returns: BaseID of device

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getBusVoltage()

double com.ctre.phoenix.motorcontrol.IMotorController.getBusVoltage ( )

Gets the bus voltage seen by the device.

Returns: The bus voltage value (in volts).

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getClosedLoopError()

double com.ctre.phoenix.motorcontrol.IMotorController.getClosedLoopError ( int pidIdx )

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

pidIdx 0 for Primary closed-loop. 1 for auxiliary closed-loop.

Returns: Closed-loop error value.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getClosedLoopTarget()

double com.ctre.phoenix.motorcontrol.IMotorController.getClosedLoopTarget ( int pidIdx )

Gets the current target of a given closed loop.

Parameters

pidIdx 0 for Primary closed-loop. 1 for auxiliary closed-loop.

Returns: The closed loop target.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getControlMode()

ControlMode com.ctre.phoenix.motorcontrol.IMotorController.getControlMode ( )

Returns: control mode motor controller is in

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getDeviceID()

int com.ctre.phoenix.motorcontrol.IMotorController.getDeviceID ( )

Returns the Device ID

Returns: Device number.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getErrorDerivative()

double com.ctre.phoenix.motorcontrol.IMotorController.getErrorDerivative ( int pidIdx )

Gets the derivative of the closed-loop error.

Parameters

pidIdx 0 for Primary closed-loop. 1 for auxiliary closed-loop.

Returns: The error derivative value.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getFaults()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.getFaults ( Faults toFill )

Polls the various fault flags.

Parameters

toFill Caller's object to fill with latest fault flags.

Returns: Last Error Code generated by a function.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getFirmwareVersion()

int com.ctre.phoenix.motorcontrol.IMotorController.getFirmwareVersion ( )

Gets the firmware version of the device.

Returns: Firmware version of device. For example: version 1-dot-2 is 0x0102.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getIntegralAccumulator()

double com.ctre.phoenix.motorcontrol.IMotorController.getIntegralAccumulator ( int pidIdx )

Gets the iaccum value.

Parameters

pidIdx 0 for Primary closed-loop. 1 for auxiliary closed-loop.

Returns: Integral accumulator value (Closed-loop error X 1ms).

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getInverted()

boolean com.ctre.phoenix.motorcontrol.IMotorController.getInverted ( )

Returns: invert setting of motor output.

Implements com.ctre.phoenix.signals.IInvertable.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController, com.ctre.phoenix.motorcontrol.can.WPI_TalonFX, com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX, and com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX.

◆ getLastError()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.getLastError ( )

Gets the last error generated by this object. Not all functions return an error code but can potentially report errors. This function can be used to retrieve those error codes.

Returns: Last Error Code generated by a function.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getMotionProfileStatus()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.getMotionProfileStatus ( MotionProfileStatus statusToFill )

Retrieve all status information. For best performance, Caller can snapshot all status information regarding the motion profile executer.

Parameters

statusToFill Caller supplied object to fill.

The members are filled, as follows...

topBufferRem: The available empty slots in the trajectory buffer. The robot API holds a "top buffer" of trajectory points, so your applicaion can dump several points at once. The API will then stream them into the low-level buffer, allowing the motor controller to act on them.

topBufferRem: The number of points in the top trajectory buffer.

btmBufferCnt: The number of points in the low level controller buffer.

hasUnderrun: Set if isUnderrun ever gets set. Can be manually cleared by clearMotionProfileHasUnderrun() or automatically cleared by startMotionProfile().

isUnderrun: This is set if controller needs to shift a point from its buffer into the active trajectory point however the buffer is empty. This gets cleared automatically when is resolved.

activePointValid: True if the active trajectory point is not empty, false otherwise. The members in activePoint are only valid if this signal is set.

isLast: is set/cleared based on the MP executer's current trajectory point's IsLast value. This assumes IsLast was set when PushMotionProfileTrajectory was used to insert the currently processed trajectory point.

profileSlotSelect: The currently processed trajectory point's selected slot. This can differ in the currently selected slot used for Position and Velocity servo modes

outputEnable: The current output mode of the motion profile executer (disabled, enabled, or hold). When changing the set() value in MP mode, it's important to check this signal to confirm the change takes effect before interacting with the top buffer.

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

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getMotionProfileTopLevelBufferCount()

int com.ctre.phoenix.motorcontrol.IMotorController.getMotionProfileTopLevelBufferCount ( )

Retrieve just the buffer count for the api-level (top) buffer. This routine performs no CAN or data structure lookups, so its fast and ideal if caller needs to quickly poll the progress of trajectory points being emptied into controller's RAM. Otherwise just use GetMotionProfileStatus.

Returns: number of trajectory points in the top buffer.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getMotorOutputPercent()

double com.ctre.phoenix.motorcontrol.IMotorController.getMotorOutputPercent ( )

Gets the output percentage of the motor controller.

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

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getMotorOutputVoltage()

double com.ctre.phoenix.motorcontrol.IMotorController.getMotorOutputVoltage ( )

Returns: applied voltage to motor in volts.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getSelectedSensorPosition()

double com.ctre.phoenix.motorcontrol.IMotorController.getSelectedSensorPosition ( int pidIdx )

Get the selected sensor position (in raw sensor units).

Parameters

pidIdx 0 for Primary closed-loop. 1 for auxiliary closed-loop. See Phoenix-Documentation for how to interpret.

Returns: Position of selected sensor (in raw sensor units).

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getSelectedSensorVelocity()

double com.ctre.phoenix.motorcontrol.IMotorController.getSelectedSensorVelocity ( int pidIdx )

Get the selected sensor velocity.

Parameters

pidIdx 0 for Primary closed-loop. 1 for auxiliary closed-loop.

Returns: selected sensor (in raw sensor units) per 100ms. See Phoenix-Documentation for how to interpret.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getStatusFramePeriod()

int com.ctre.phoenix.motorcontrol.IMotorController.getStatusFramePeriod	(	StatusFrame	frame,
		int	timeoutMs
	)

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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getStickyFaults()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.getStickyFaults ( StickyFaults toFill )

Polls the various sticky fault flags.

Parameters

toFill Caller's object to fill with latest sticky fault flags.

Returns: Last Error Code generated by a function.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ getTemperature()

double com.ctre.phoenix.motorcontrol.IMotorController.getTemperature ( )

Gets the temperature of the motor controller.

Returns: Temperature of the motor controller (in 'C)

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ hasResetOccurred()

boolean com.ctre.phoenix.motorcontrol.IMotorController.hasResetOccurred ( )

Returns true if the device has reset since last call.

Returns: Has a Device Reset Occurred?

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ isMotionProfileTopLevelBufferFull()

boolean com.ctre.phoenix.motorcontrol.IMotorController.isMotionProfileTopLevelBufferFull ( )

Retrieve just the buffer full for the api-level (top) buffer. This routine performs no CAN or data structure lookups, so its fast and ideal if caller needs to quickly poll. Otherwise just use GetMotionProfileStatus.

Returns: number of trajectory points in the top buffer.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ neutralOutput()

void com.ctre.phoenix.motorcontrol.IMotorController.neutralOutput ( )

Neutral the motor output by setting control mode to disabled.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ overrideLimitSwitchesEnable()

void com.ctre.phoenix.motorcontrol.IMotorController.overrideLimitSwitchesEnable ( boolean enable )

Sets the enable state for limit switches.

Parameters

enable Enable state for limit switches.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ overrideSoftLimitsEnable()

void com.ctre.phoenix.motorcontrol.IMotorController.overrideSoftLimitsEnable ( boolean enable )

Can be used to override-disable the soft limits. This function can be used to quickly disable soft limits without having to modify the persistent configuration.

Parameters

enable Enable state for soft limit switches.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ processMotionProfileBuffer()

void com.ctre.phoenix.motorcontrol.IMotorController.processMotionProfileBuffer ( )

This must be called periodically to funnel the trajectory points from the API's top level buffer to the controller's bottom level buffer. Recommendation is to call this twice as fast as the execution rate of the motion profile. So if MP is running with 20ms trajectory points, try calling this routine every 10ms. All motion profile functions are thread-safe through the use of a mutex, so there is no harm in having the caller utilize threading.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ pushMotionProfileTrajectory()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.pushMotionProfileTrajectory ( TrajectoryPoint trajPt )

Push another trajectory point into the top level buffer (which is emptied into the motor controller's bottom buffer as room allows).

Parameters

trajPt

to push into buffer. The members should be filled in with these values...

targPos: servo position in sensor units.
targVel: velocity to feed-forward in sensor units
per 100ms.
profileSlotSelect0 Which slot to get PIDF gains. PID is used for position servo. F is used
as the Kv constant for velocity feed-forward. Typically this is hardcoded
to the a particular slot, but you are free gain schedule if need be.
Choose from [0,3]
profileSlotSelect1 Which slot to get PIDF gains for auxiliary PId.
This only has impact during MotionProfileArc Control mode.
Choose from [0,1].
isLastPoint set to nonzero to signal motor controller to keep processing this
trajectory point, instead of jumping to the next one
when timeDurMs expires. Otherwise MP executer will
eventually see an empty buffer after the last point
expires, causing it to assert the IsUnderRun flag.
However this may be desired if calling application
never wants to terminate the MP.
zeroPos set to nonzero to signal motor controller to "zero" the selected
position sensor before executing this trajectory point.
Typically the first point should have this set only thus
allowing the remainder of the MP positions to be relative to
zero.
timeDur Duration to apply this trajectory pt.
This time unit is ADDED to the exising base time set by
configMotionProfileTrajectoryPeriod().

Returns: CTR_OKAY if trajectory point push ok. ErrorCode if buffer is full due to kMotionProfileTopBufferCapacity.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ selectProfileSlot()

void com.ctre.phoenix.motorcontrol.IMotorController.selectProfileSlot	(	int	slotIdx,
		int	pidIdx
	)

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

Parameters

slotIdx	Profile slot to select.
pidIdx	0 for Primary closed-loop. 1 for auxiliary closed-loop.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ set() [1/2]

void com.ctre.phoenix.motorcontrol.IMotorController.set	(	ControlMode	Mode,
		double	demand
	)

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.
demand	The setpoint value, as described above.

Standard Driving Example: _talonLeft.set(ControlMode.PercentOutput, leftJoy); _talonRght.set(ControlMode.PercentOutput, rghtJoy);

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController, com.ctre.phoenix.motorcontrol.can.WPI_TalonFX, com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX, and com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX.

◆ set() [2/2]

void com.ctre.phoenix.motorcontrol.IMotorController.set	(	ControlMode	Mode,
		double	demand0,
		DemandType	demand1Type,
		double	demand1
	)

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. 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. Units match the set mode.

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);

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController, com.ctre.phoenix.motorcontrol.can.WPI_TalonFX, com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX, and com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX.

◆ setControlFramePeriod()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.setControlFramePeriod	(	ControlFrame	frame,
		int	periodMs
	)

Sets the period of the given control frame.

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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ setIntegralAccumulator()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.setIntegralAccumulator	(	double	iaccum,
		int	pidIdx,
		int	timeoutMs
	)

Sets the integral accumulator. Typically this is used to clear/zero the integral accumulator, however some use cases may require seeding the accumulator for a faster response.

Parameters

iaccum	Value to set for the integral accumulator (closed loop error units X 1ms).
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ setInverted() [1/2]

void com.ctre.phoenix.motorcontrol.IMotorController.setInverted ( boolean invert )

Inverts the hbridge output of the motor controller.

This does not impact sensor phase and should not be used to correct sensor polarity.

This will invert the hbridge output but NOT the LEDs. This ensures....

Green LEDs always represents positive request from robot-controller/closed-looping mode.
Green LEDs correlates to forward limit switch.
Green LEDs correlates to forward soft limit.

Parameters

invert Invert state to set.

Implements com.ctre.phoenix.signals.IInvertable.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController, com.ctre.phoenix.motorcontrol.can.WPI_TalonFX, com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX, and com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX.

◆ setInverted() [2/2]

void com.ctre.phoenix.motorcontrol.IMotorController.setInverted ( InvertType invertType )

Inverts the hbridge output of the motor controller in relation to the master if present

This does not impact sensor phase and should not be used to correct sensor polarity.

This will allow you to either:

Not invert the motor
Invert the motor
Always follow the master regardless of master's inversion
Always oppose the master regardless of master's inversion

Parameters

invertType Invert state to set.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ setNeutralMode()

void com.ctre.phoenix.motorcontrol.IMotorController.setNeutralMode ( NeutralMode neutralMode )

Sets the mode of operation during neutral throttle output.

Parameters

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

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ setSelectedSensorPosition()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.setSelectedSensorPosition	(	double	sensorPos,
		int	pidIdx,
		int	timeoutMs
	)

Sets the sensor position to the given value.

Parameters

sensorPos	Position to set for the selected sensor (in raw sensor units).
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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ setSensorPhase()

void com.ctre.phoenix.motorcontrol.IMotorController.setSensorPhase ( boolean PhaseSensor )

Sets the phase of the sensor. Use when controller forward/reverse output doesn't correlate to appropriate forward/reverse reading of sensor. Pick a value so that positive PercentOutput yields a positive change in sensor. After setting this, user can freely call SetInverted() with any value.

Parameters

PhaseSensor Indicates whether to invert the phase of the sensor.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

◆ setStatusFramePeriod()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorController.setStatusFramePeriod	(	StatusFrame	frame,
		int	periodMs,
		int	timeoutMs
	)

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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseMotorController.

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

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

Public Member Functions

Detailed Description

Member Function Documentation

◆ changeMotionControlFramePeriod()

◆ clearMotionProfileHasUnderrun()

◆ clearMotionProfileTrajectories()

◆ clearStickyFaults()

◆ config_IntegralZone()

◆ config_kD()

◆ config_kF()

◆ config_kI()

◆ config_kP()

◆ configAllowableClosedloopError()

◆ configAuxPIDPolarity()

◆ configClosedLoopPeakOutput()

◆ configClosedLoopPeriod()

◆ configClosedloopRamp()

◆ configForwardLimitSwitchSource()

◆ configForwardSoftLimitEnable()

◆ configForwardSoftLimitThreshold()

◆ configGetCustomParam()

◆ configGetParameter() [1/2]

◆ configGetParameter() [2/2]

◆ configMaxIntegralAccumulator()

◆ configMotionAcceleration()

◆ configMotionCruiseVelocity()

◆ configMotionProfileTrajectoryPeriod()

◆ configMotionSCurveStrength()

◆ configNeutralDeadband()

◆ configNominalOutputForward()

◆ configNominalOutputReverse()

◆ configOpenloopRamp()

◆ configPeakOutputForward()

◆ configPeakOutputReverse()

◆ configRemoteFeedbackFilter() [1/3]

◆ configRemoteFeedbackFilter() [2/3]

◆ configRemoteFeedbackFilter() [3/3]

◆ configReverseLimitSwitchSource()

◆ configReverseSoftLimitEnable()

◆ configReverseSoftLimitThreshold()

◆ configSelectedFeedbackCoefficient()

◆ configSelectedFeedbackSensor()

◆ configSensorTerm()

◆ configSetCustomParam()

◆ configSetParameter() [1/2]

◆ configSetParameter() [2/2]

◆ configVoltageCompSaturation()

◆ configVoltageMeasurementFilter()

◆ enableVoltageCompensation()

◆ getActiveTrajectoryPosition()

◆ getActiveTrajectoryVelocity()

◆ getBaseID()

◆ getBusVoltage()

◆ getClosedLoopError()

◆ getClosedLoopTarget()

◆ getControlMode()

◆ getDeviceID()

◆ getErrorDerivative()

◆ getFaults()

◆ getFirmwareVersion()

◆ getIntegralAccumulator()

◆ getInverted()

◆ getLastError()

◆ getMotionProfileStatus()

◆ getMotionProfileTopLevelBufferCount()

◆ getMotorOutputPercent()

◆ getMotorOutputVoltage()

◆ getSelectedSensorPosition()

◆ getSelectedSensorVelocity()

◆ getStatusFramePeriod()

◆ getStickyFaults()

◆ getTemperature()

◆ hasResetOccurred()

◆ isMotionProfileTopLevelBufferFull()

◆ neutralOutput()

◆ overrideLimitSwitchesEnable()

◆ overrideSoftLimitsEnable()

◆ processMotionProfileBuffer()

◆ pushMotionProfileTrajectory()

◆ selectProfileSlot()