com.ctre.phoenix.motorcontrol.TalonSRXSimCollection Class Reference

Public Member Functions
	TalonSRXSimCollection (BaseTalon motorController)
ErrorCode	setBusVoltage (double vbat)
ErrorCode	setSupplyCurrent (double currA)
ErrorCode	setStatorCurrent (double currA)
ErrorCode	setLimitFwd (boolean isClosed)
ErrorCode	setLimitRev (boolean isClosed)
ErrorCode	setAnalogPosition (int newPos)
ErrorCode	addAnalogPosition (int dPos)
ErrorCode	setAnalogVelocity (int newVel)
ErrorCode	setPulseWidthConnected (boolean isConnected)
ErrorCode	setPulseWidthRiseToRiseUs (double periodUs)
ErrorCode	setPulseWidthPosition (int newPos)
ErrorCode	addPulseWidthPosition (int dPos)
ErrorCode	setPulseWidthVelocity (int newVel)
ErrorCode	setQuadratureRawPosition (int newPos)
ErrorCode	addQuadraturePosition (int dPos)
ErrorCode	setQuadratureVelocity (int newVel)

Detailed Description

Collection of simulation commands available to a TalonSRX motor controller.

Use the getSimCollection() routine inside your motor controller to create a sim collection.

Constructor & Destructor Documentation

TalonSRXSimCollection()

com.ctre.phoenix.motorcontrol.TalonSRXSimCollection.TalonSRXSimCollection ( BaseTalon  motorController )

inline

Constructor for TalonSRXSimCollection

Parameters

motorController

Motor Controller to connect Collection to

Member Function Documentation

addAnalogPosition()

ErrorCode com.ctre.phoenix.motorcontrol.TalonSRXSimCollection.addAnalogPosition ( int  dPos )

inline

Adds to the simulated analog position of the TalonSRX.

Parameters

dPos	the change in position in native units

Returns

error code

addPulseWidthPosition()

ErrorCode com.ctre.phoenix.motorcontrol.TalonSRXSimCollection.addPulseWidthPosition ( int  dPos )

inline

Adds to the simulated pulse width position of the TalonSRX.

Parameters

dPos	the change in position in native units

Returns

error code

addQuadraturePosition()

ErrorCode com.ctre.phoenix.motorcontrol.TalonSRXSimCollection.addQuadraturePosition ( int  dPos )

inline

Adds to the simulated quadrature position of the TalonSRX.

Parameters

dPos	the change in position in native units

Returns

error code

setAnalogPosition()

ErrorCode com.ctre.phoenix.motorcontrol.TalonSRXSimCollection.setAnalogPosition ( int  newPos )

inline

Sets the simulated analog position of the TalonSRX.

Parameters

newPos

the new position in native units

Returns

error code

setAnalogVelocity()

ErrorCode com.ctre.phoenix.motorcontrol.TalonSRXSimCollection.setAnalogVelocity ( int  newVel )

inline

Sets the simulated analog velocity of the TalonSRX.

Parameters

newVel

the new velocity in native units per 100ms

Returns

error code

setBusVoltage()

ErrorCode com.ctre.phoenix.motorcontrol.TalonSRXSimCollection.setBusVoltage ( double  vbat )

inline

Sets the simulated bus voltage of the TalonSRX.

Parameters

vbat	the bus voltage

Returns

error code

setLimitFwd()

ErrorCode com.ctre.phoenix.motorcontrol.TalonSRXSimCollection.setLimitFwd ( boolean  isClosed )

inline

Sets the simulated forward limit switch of the TalonSRX.

Parameters

isClosed

true if the limit switch is closed

Returns

error code

setLimitRev()

ErrorCode com.ctre.phoenix.motorcontrol.TalonSRXSimCollection.setLimitRev ( boolean  isClosed )

inline

Sets the simulated reverse limit switch of the TalonSRX.

Parameters

isClosed

true if the limit switch is closed

Returns

error code

setPulseWidthConnected()

ErrorCode com.ctre.phoenix.motorcontrol.TalonSRXSimCollection.setPulseWidthConnected ( boolean  isConnected )

inline

Sets if the simulated pulse width sensor is connected to the TalonSRX.

Parameters

isConnected

true if the pulse width sensor is connected

Returns

error code

setPulseWidthPosition()

ErrorCode com.ctre.phoenix.motorcontrol.TalonSRXSimCollection.setPulseWidthPosition ( int  newPos )

inline

Sets the simulated pulse width position of the TalonSRX.

Parameters

newPos

the new position in native units

Returns

error code

setPulseWidthRiseToRiseUs()

ErrorCode com.ctre.phoenix.motorcontrol.TalonSRXSimCollection.setPulseWidthRiseToRiseUs ( double  periodUs )

inline

Sets the simulated pulse width rise to rise time of the TalonSRX.

Parameters

periodUs

the pulse width rise to rise time in microseconds

Returns

error code

setPulseWidthVelocity()

ErrorCode com.ctre.phoenix.motorcontrol.TalonSRXSimCollection.setPulseWidthVelocity ( int  newVel )

inline

Sets the simulated pulse width velocity of the TalonSRX.

Parameters

newVel

the new velocity in native units per 100ms

Returns

error code

setQuadratureRawPosition()

ErrorCode com.ctre.phoenix.motorcontrol.TalonSRXSimCollection.setQuadratureRawPosition ( int  newPos )

inline

Sets the simulated raw quadrature position of the TalonSRX.

The TalonSRX integrates this to calculate the true reported quadrature position.

When using the WPI Sim GUI, you will notice a readonly 'position' and settable 'rawPositionInput'. The readonly signal is the emulated position which will match self-test in Tuner and the hardware API. Changes to 'rawPositionInput' will be integrated into the emulated position. This way a simulator can modify the position without overriding your hardware API calls for home-ing your sensor.

Inputs to this function over time should be continuous, as user calls of setSelectedSensorPosition() and setQuadraturePosition() will be accounted for in the calculation.

Parameters

newPos

the new raw position in native units

Returns

error code

setQuadratureVelocity()

ErrorCode com.ctre.phoenix.motorcontrol.TalonSRXSimCollection.setQuadratureVelocity ( int  newVel )

inline

Sets the simulated quadrature velocity of the TalonSRX.

Parameters

newVel

the new velocity in native units per 100ms

Returns

error code

setStatorCurrent()

ErrorCode com.ctre.phoenix.motorcontrol.TalonSRXSimCollection.setStatorCurrent ( double  currA )

inline

Sets the simulated stator current of the TalonSRX.

Parameters

currA

the stator current in amps

Returns

error code

setSupplyCurrent()

ErrorCode com.ctre.phoenix.motorcontrol.TalonSRXSimCollection.setSupplyCurrent ( double  currA )

inline

Sets the simulated supply current of the TalonSRX.

Parameters

currA

the supply current in amps

Returns

error code

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

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