Inherits com.ctre.phoenix.motorcontrol.IMotorController.

Inherited by com.ctre.phoenix.motorcontrol.can.BaseTalon.

Public Member Functions
ErrorCode	configSelectedFeedbackSensor (FeedbackDevice feedbackDevice, int pidIdx, int timeoutMs)

ErrorCode	configSupplyCurrentLimit (SupplyCurrentLimitConfiguration currLimitCfg, int timeoutMs)

ErrorCode	setStatusFramePeriod (StatusFrameEnhanced frame, int periodMs, int timeoutMs)

int	getStatusFramePeriod (StatusFrameEnhanced frame, int timeoutMs)

double	getOutputCurrent ()

ErrorCode	configVelocityMeasurementPeriod (SensorVelocityMeasPeriod period, int timeoutMs)

ErrorCode	configVelocityMeasurementPeriod (VelocityMeasPeriod period, int timeoutMs)

ErrorCode	configVelocityMeasurementWindow (int windowSize, int timeoutMs)

ErrorCode	configForwardLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int timeoutMs)

ErrorCode	configReverseLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int timeoutMs)

Public Member Functions inherited from com.ctre.phoenix.motorcontrol.IMotorController
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 enhanced motor controllers

Member Function Documentation

◆ configForwardLimitSwitchSource()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced.configForwardLimitSwitchSource	(	LimitSwitchSource	type,
		LimitSwitchNormal	normalOpenOrClose,
		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.
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.BaseTalon.

◆ configReverseLimitSwitchSource()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced.configReverseLimitSwitchSource	(	LimitSwitchSource	type,
		LimitSwitchNormal	normalOpenOrClose,
		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.
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.BaseTalon.

◆ configSelectedFeedbackSensor()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced.configSelectedFeedbackSensor	(	FeedbackDevice	feedbackDevice,
		int	pidIdx,
		int	timeoutMs
	)

Select the feedback device for the motor controller.

Parameters

feedbackDevice	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()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced.configSupplyCurrentLimit	(	SupplyCurrentLimitConfiguration	currLimitCfg,
		int	timeoutMs
	)

Configures the supply (input) current limit.

Parameters

currLimitCfg	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.

Implemented in com.ctre.phoenix.motorcontrol.can.BaseTalon, com.ctre.phoenix.motorcontrol.can.TalonFX, and com.ctre.phoenix.motorcontrol.can.TalonSRX.

◆ configVelocityMeasurementPeriod() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced.configVelocityMeasurementPeriod	(	SensorVelocityMeasPeriod	period,
		int	timeoutMs
	)

Sets the period over which velocity measurements are taken.

Parameters

period Desired period for the velocity measurement.

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

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.BaseTalon.

◆ configVelocityMeasurementPeriod() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced.configVelocityMeasurementPeriod	(	VelocityMeasPeriod	period,
		int	timeoutMs
	)

Sets the period over which velocity measurements are taken.

Deprecated:: Use the overload with SensorVelocityMeasPeriod instead.

Parameters

period Desired period for the velocity measurement.

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

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.BaseTalon.

◆ configVelocityMeasurementWindow()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced.configVelocityMeasurementWindow	(	int	windowSize,
		int	timeoutMs
	)

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

Parameters

windowSize	Number of samples in the rolling average of velocity measurement. Valid values are 1,2,4,8,16,32. If another value is specified, it will truncate to nearest support value.
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.BaseTalon.

◆ getOutputCurrent()

double com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced.getOutputCurrent ( )

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.

Returns: The output current (in amps).

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

◆ getStatusFramePeriod()

int com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced.getStatusFramePeriod	(	StatusFrameEnhanced	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.BaseTalon.

◆ setStatusFramePeriod()

ErrorCode com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced.setStatusFramePeriod	(	StatusFrameEnhanced	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.BaseTalon.

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

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

Public Member Functions

Detailed Description

Member Function Documentation

◆ configForwardLimitSwitchSource()

◆ configReverseLimitSwitchSource()

◆ configSelectedFeedbackSensor()

◆ configSupplyCurrentLimit()

◆ configVelocityMeasurementPeriod() [1/2]

◆ configVelocityMeasurementPeriod() [2/2]

◆ configVelocityMeasurementWindow()

◆ getOutputCurrent()

◆ getStatusFramePeriod()

◆ setStatusFramePeriod()