Inherits com.ctre.phoenix.motorcontrol.can.BaseTalon.

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

Public Member Functions
	TalonFX (int deviceNumber)

void	set (TalonFXControlMode mode, double value)

void	set (TalonFXControlMode mode, double demand0, DemandType demand1Type, double demand1)

void	setInverted (TalonFXInvertType invertType)

ErrorCode	configSelectedFeedbackSensor (TalonFXFeedbackDevice feedbackDevice, int pidIdx, int timeoutMs)

ErrorCode	configSupplyCurrentLimit (SupplyCurrentLimitConfiguration currLimitCfg, int timeoutMs)

ErrorCode	configSupplyCurrentLimit (SupplyCurrentLimitConfiguration currLimitCfg)

ErrorCode	configStatorCurrentLimit (StatorCurrentLimitConfiguration currLimitCfg, int timeoutMs)

ErrorCode	configStatorCurrentLimit (StatorCurrentLimitConfiguration currLimitCfg)

ErrorCode	configGetSupplyCurrentLimit (SupplyCurrentLimitConfiguration currLimitConfigsToFill, int timeoutMs)

ErrorCode	configGetSupplyCurrentLimit (SupplyCurrentLimitConfiguration currLimitConfigsToFill)

ErrorCode	configGetStatorCurrentLimit (StatorCurrentLimitConfiguration currLimitConfigsToFill, int timeoutMs)

ErrorCode	configGetStatorCurrentLimit (StatorCurrentLimitConfiguration currLimitConfigsToFill)

ErrorCode	configMotorCommutation (MotorCommutation motorCommutation, int timeoutMs)

ErrorCode	configMotorCommutation (MotorCommutation motorCommutation)

MotorCommutation	configGetMotorCommutation (int timeoutMs)

MotorCommutation	configGetMotorCommutation ()

ErrorCode	configIntegratedSensorAbsoluteRange (AbsoluteSensorRange absoluteSensorRange, int timeoutMs)

ErrorCode	configIntegratedSensorAbsoluteRange (AbsoluteSensorRange absoluteSensorRange)

ErrorCode	configIntegratedSensorOffset (double offsetDegrees, int timeoutMs)

ErrorCode	configIntegratedSensorOffset (double offsetDegrees)

ErrorCode	configIntegratedSensorInitializationStrategy (SensorInitializationStrategy initializationStrategy, int timeoutMs)

ErrorCode	configIntegratedSensorInitializationStrategy (SensorInitializationStrategy initializationStrategy)

TalonFXSensorCollection	getSensorCollection ()

void	getPIDConfigs (TalonFXPIDSetConfiguration pid, int pidIdx, int timeoutMs)

void	getPIDConfigs (TalonFXPIDSetConfiguration pid)

ErrorCode	configAllSettings (TalonFXConfiguration allConfigs, int timeoutMs)

ErrorCode	configAllSettings (TalonFXConfiguration allConfigs)

ErrorCode	getAllConfigs (TalonFXConfiguration allConfigs, int timeoutMs)

ErrorCode	getAllConfigs (TalonFXConfiguration allConfigs)

Public Member Functions inherited from com.ctre.phoenix.motorcontrol.can.BaseTalon
	BaseTalon (int deviceNumber, String model)

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

ErrorCode	setStatusFramePeriod (StatusFrameEnhanced frame, int periodMs)

int	getStatusFramePeriod (StatusFrameEnhanced frame, int timeoutMs)

int	getStatusFramePeriod (StatusFrameEnhanced frame)

double	getOutputCurrent ()

double	getStatorCurrent ()

double	getSupplyCurrent ()

ErrorCode	configVelocityMeasurementPeriod (VelocityMeasPeriod period, int timeoutMs)

ErrorCode	configVelocityMeasurementPeriod (VelocityMeasPeriod period)

ErrorCode	configVelocityMeasurementWindow (int windowSize, int timeoutMs)

ErrorCode	configVelocityMeasurementWindow (int windowSize)

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

ErrorCode	configForwardLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose)

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

ErrorCode	configReverseLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose)

ErrorCode	configSupplyCurrentLimit (SupplyCurrentLimitConfiguration currLimitCfg, int timeoutMs)

int	isFwdLimitSwitchClosed ()

int	isRevLimitSwitchClosed ()

Public Member Functions inherited from com.ctre.phoenix.motorcontrol.can.BaseMotorController
	BaseMotorController (int arbId, String model)

ErrorCode	DestroyObject ()

long	getHandle ()

int	getDeviceID ()

void	set (ControlMode mode, double outputValue)

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	configFactoryDefault (int timeoutMs)

ErrorCode	configFactoryDefault ()

ErrorCode	configOpenloopRamp (double secondsFromNeutralToFull, int timeoutMs)

ErrorCode	configOpenloopRamp (double secondsFromNeutralToFull)

ErrorCode	configClosedloopRamp (double secondsFromNeutralToFull, int timeoutMs)

ErrorCode	configClosedloopRamp (double secondsFromNeutralToFull)

ErrorCode	configPeakOutputForward (double percentOut, int timeoutMs)

ErrorCode	configPeakOutputForward (double percentOut)

ErrorCode	configPeakOutputReverse (double percentOut, int timeoutMs)

ErrorCode	configPeakOutputReverse (double percentOut)

ErrorCode	configNominalOutputForward (double percentOut, int timeoutMs)

ErrorCode	configNominalOutputForward (double percentOut)

ErrorCode	configNominalOutputReverse (double percentOut, int timeoutMs)

ErrorCode	configNominalOutputReverse (double percentOut)

ErrorCode	configNeutralDeadband (double percentDeadband, int timeoutMs)

ErrorCode	configNeutralDeadband (double percentDeadband)

ErrorCode	configVoltageCompSaturation (double voltage, int timeoutMs)

ErrorCode	configVoltageCompSaturation (double voltage)

ErrorCode	configVoltageMeasurementFilter (int filterWindowSamples, int timeoutMs)

ErrorCode	configVoltageMeasurementFilter (int filterWindowSamples)

void	enableVoltageCompensation (boolean enable)

boolean	isVoltageCompensationEnabled ()

double	getBusVoltage ()

double	getMotorOutputPercent ()

double	getMotorOutputVoltage ()

double	getTemperature ()

ErrorCode	configSelectedFeedbackSensor (RemoteFeedbackDevice feedbackDevice, int pidIdx, int timeoutMs)

ErrorCode	configSelectedFeedbackSensor (RemoteFeedbackDevice feedbackDevice)

ErrorCode	configSelectedFeedbackSensor (FeedbackDevice feedbackDevice, int pidIdx, int timeoutMs)

ErrorCode	configSelectedFeedbackSensor (FeedbackDevice feedbackDevice)

ErrorCode	configSelectedFeedbackCoefficient (double coefficient, int pidIdx, int timeoutMs)

ErrorCode	configSelectedFeedbackCoefficient (double coefficient)

ErrorCode	configRemoteFeedbackFilter (int deviceID, RemoteSensorSource remoteSensorSource, int remoteOrdinal, int timeoutMs)

ErrorCode	configRemoteFeedbackFilter (int deviceID, RemoteSensorSource remoteSensorSource, int remoteOrdinal)

ErrorCode	configRemoteFeedbackFilter (CANCoder canCoderRef, int remoteOrdinal, int timeoutMs)

ErrorCode	configRemoteFeedbackFilter (CANCoder canCoderRef, int remoteOrdinal)

ErrorCode	configSensorTerm (SensorTerm sensorTerm, FeedbackDevice feedbackDevice, int timeoutMs)

ErrorCode	configSensorTerm (SensorTerm sensorTerm, FeedbackDevice feedbackDevice)

ErrorCode	configSensorTerm (SensorTerm sensorTerm, RemoteFeedbackDevice feedbackDevice, int timeoutMs)

ErrorCode	configSensorTerm (SensorTerm sensorTerm, RemoteFeedbackDevice feedbackDevice)

double	getSelectedSensorPosition (int pidIdx)

double	getSelectedSensorPosition ()

double	getSelectedSensorVelocity (int pidIdx)

double	getSelectedSensorVelocity ()

ErrorCode	setSelectedSensorPosition (double sensorPos, int pidIdx, int timeoutMs)

ErrorCode	setSelectedSensorPosition (double sensorPos)

ErrorCode	setControlFramePeriod (ControlFrame frame, int periodMs)

ErrorCode	setControlFramePeriod (int frame, int periodMs)

ErrorCode	setStatusFramePeriod (int frameValue, int periodMs, int timeoutMs)

ErrorCode	setStatusFramePeriod (int frameValue, int periodMs)

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

ErrorCode	setStatusFramePeriod (StatusFrame frame, int periodMs)

int	getStatusFramePeriod (int frame, int timeoutMs)

int	getStatusFramePeriod (int frame)

int	getStatusFramePeriod (StatusFrame frame, int timeoutMs)

int	getStatusFramePeriod (StatusFrame frame)

int	getStatusFramePeriod (StatusFrameEnhanced frame, int timeoutMs)

int	getStatusFramePeriod (StatusFrameEnhanced frame)

ErrorCode	configVelocityMeasurementPeriod (VelocityMeasPeriod period, int timeoutMs)

ErrorCode	configVelocityMeasurementPeriod (VelocityMeasPeriod period)

ErrorCode	configVelocityMeasurementWindow (int windowSize, int timeoutMs)

ErrorCode	configVelocityMeasurementWindow (int windowSize)

ErrorCode	configForwardLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs)

ErrorCode	configForwardLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID)

ErrorCode	configReverseLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs)

ErrorCode	configReverseLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID)

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

ErrorCode	configForwardLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose)

void	overrideLimitSwitchesEnable (boolean enable)

ErrorCode	configForwardSoftLimitThreshold (double forwardSensorLimit, int timeoutMs)

ErrorCode	configForwardSoftLimitThreshold (double forwardSensorLimit)

ErrorCode	configReverseSoftLimitThreshold (double reverseSensorLimit, int timeoutMs)

ErrorCode	configReverseSoftLimitThreshold (double reverseSensorLimit)

ErrorCode	configForwardSoftLimitEnable (boolean enable, int timeoutMs)

ErrorCode	configForwardSoftLimitEnable (boolean enable)

ErrorCode	configReverseSoftLimitEnable (boolean enable, int timeoutMs)

ErrorCode	configReverseSoftLimitEnable (boolean enable)

void	overrideSoftLimitsEnable (boolean enable)

ErrorCode	config_kP (int slotIdx, double value, int timeoutMs)

ErrorCode	config_kP (int slotIdx, double value)

ErrorCode	config_kI (int slotIdx, double value, int timeoutMs)

ErrorCode	config_kI (int slotIdx, double value)

ErrorCode	config_kD (int slotIdx, double value, int timeoutMs)

ErrorCode	config_kD (int slotIdx, double value)

ErrorCode	config_kF (int slotIdx, double value, int timeoutMs)

ErrorCode	config_kF (int slotIdx, double value)

ErrorCode	config_IntegralZone (int slotIdx, double izone, int timeoutMs)

ErrorCode	config_IntegralZone (int slotIdx, double izone)

ErrorCode	configAllowableClosedloopError (int slotIdx, double allowableClosedLoopError, int timeoutMs)

ErrorCode	configAllowableClosedloopError (int slotIdx, double allowableClosedLoopError)

ErrorCode	configMaxIntegralAccumulator (int slotIdx, double iaccum, int timeoutMs)

ErrorCode	configMaxIntegralAccumulator (int slotIdx, double iaccum)

ErrorCode	configClosedLoopPeakOutput (int slotIdx, double percentOut, int timeoutMs)

ErrorCode	configClosedLoopPeakOutput (int slotIdx, double percentOut)

ErrorCode	configClosedLoopPeriod (int slotIdx, int loopTimeMs, int timeoutMs)

ErrorCode	configClosedLoopPeriod (int slotIdx, int loopTimeMs)

ErrorCode	configAuxPIDPolarity (boolean invert, int timeoutMs)

ErrorCode	configAuxPIDPolarity (boolean invert)

ErrorCode	setIntegralAccumulator (double iaccum, int pidIdx, int timeoutMs)

ErrorCode	setIntegralAccumulator (double iaccum)

double	getClosedLoopError (int pidIdx)

double	getClosedLoopError ()

double	getIntegralAccumulator (int pidIdx)

double	getIntegralAccumulator ()

double	getErrorDerivative (int pidIdx)

double	getErrorDerivative ()

void	selectProfileSlot (int slotIdx, int pidIdx)

double	getClosedLoopTarget (int pidIdx)

double	getClosedLoopTarget ()

double	getActiveTrajectoryPosition ()

double	getActiveTrajectoryPosition (int pidIdx)

double	getActiveTrajectoryVelocity ()

double	getActiveTrajectoryVelocity (int pidIdx)

double	getActiveTrajectoryArbFeedFwd ()

double	getActiveTrajectoryArbFeedFwd (int pidIdx)

ErrorCode	configMotionCruiseVelocity (double sensorUnitsPer100ms, int timeoutMs)

ErrorCode	configMotionCruiseVelocity (double sensorUnitsPer100ms)

ErrorCode	configMotionAcceleration (double sensorUnitsPer100msPerSec, int timeoutMs)

ErrorCode	configMotionAcceleration (double sensorUnitsPer100msPerSec)

ErrorCode	configMotionSCurveStrength (int curveStrength, int timeoutMs)

ErrorCode	configMotionSCurveStrength (int curveStrength)

ErrorCode	clearMotionProfileTrajectories ()

int	getMotionProfileTopLevelBufferCount ()

ErrorCode	pushMotionProfileTrajectory (TrajectoryPoint trajPt)

ErrorCode	startMotionProfile (BufferedTrajectoryPointStream stream, int minBufferedPts, ControlMode motionProfControlMode)

boolean	isMotionProfileFinished ()

boolean	isMotionProfileTopLevelBufferFull ()

void	processMotionProfileBuffer ()

ErrorCode	getMotionProfileStatus (MotionProfileStatus statusToFill)

ErrorCode	clearMotionProfileHasUnderrun (int timeoutMs)

ErrorCode	clearMotionProfileHasUnderrun ()

ErrorCode	changeMotionControlFramePeriod (int periodMs)

ErrorCode	configMotionProfileTrajectoryPeriod (int baseTrajDurationMs, int timeoutMs)

ErrorCode	configMotionProfileTrajectoryPeriod (int baseTrajDurationMs)

ErrorCode	configMotionProfileTrajectoryInterpolationEnable (boolean enable, int timeoutMs)

ErrorCode	configMotionProfileTrajectoryInterpolationEnable (boolean enable)

ErrorCode	configFeedbackNotContinuous (boolean feedbackNotContinuous, int timeoutMs)

ErrorCode	configRemoteSensorClosedLoopDisableNeutralOnLOS (boolean remoteSensorClosedLoopDisableNeutralOnLOS, int timeoutMs)

ErrorCode	configClearPositionOnLimitF (boolean clearPositionOnLimitF, int timeoutMs)

ErrorCode	configClearPositionOnLimitR (boolean clearPositionOnLimitR, int timeoutMs)

ErrorCode	configClearPositionOnQuadIdx (boolean clearPositionOnQuadIdx, int timeoutMs)

ErrorCode	configLimitSwitchDisableNeutralOnLOS (boolean limitSwitchDisableNeutralOnLOS, int timeoutMs)

ErrorCode	configSoftLimitDisableNeutralOnLOS (boolean softLimitDisableNeutralOnLOS, int timeoutMs)

ErrorCode	configPulseWidthPeriod_EdgesPerRot (int pulseWidthPeriod_EdgesPerRot, int timeoutMs)

ErrorCode	configPulseWidthPeriod_FilterWindowSz (int pulseWidthPeriod_FilterWindowSz, int timeoutMs)

ErrorCode	getLastError ()

ErrorCode	getFaults (Faults toFill)

ErrorCode	getStickyFaults (StickyFaults toFill)

ErrorCode	clearStickyFaults (int timeoutMs)

ErrorCode	clearStickyFaults ()

int	getFirmwareVersion ()

boolean	hasResetOccurred ()

ErrorCode	configSetCustomParam (int newValue, int paramIndex, int timeoutMs)

ErrorCode	configSetCustomParam (int newValue, int paramIndex)

int	configGetCustomParam (int paramIndex, int timeoutMs)

int	configGetCustomParam (int paramIndex)

ErrorCode	configSetParameter (ParamEnum param, double value, int subValue, int ordinal, int timeoutMs)

ErrorCode	configSetParameter (ParamEnum param, double value, int subValue, int ordinal)

ErrorCode	configSetParameter (int param, double value, int subValue, int ordinal, int timeoutMs)

ErrorCode	configSetParameter (int param, double value, int subValue, int ordinal)

double	configGetParameter (ParamEnum param, int ordinal, int timeoutMs)

double	configGetParameter (ParamEnum param, int ordinal)

double	configGetParameter (int param, int ordinal, int timeoutMs)

double	configGetParameter (int param, int ordinal)

int	getBaseID ()

ControlMode	getControlMode ()

void	follow (IMotorController masterToFollow, FollowerType followerType)

void	follow (IMotorController masterToFollow)

void	valueUpdated ()

ErrorCode	configureSlot (SlotConfiguration slot)

ErrorCode	configureSlot (SlotConfiguration slot, int slotIdx, int timeoutMs)

void	getSlotConfigs (SlotConfiguration slot, int slotIdx, int timeoutMs)

void	getSlotConfigs (SlotConfiguration slot)

ErrorCode	configureFilter (FilterConfiguration filter, int ordinal, int timeoutMs, boolean enableOptimizations)

ErrorCode	configureFilter (FilterConfiguration filter, int ordinal, int timeoutMs)

ErrorCode	configureFilter (FilterConfiguration filter)

void	getFilterConfigs (FilterConfiguration filter, int ordinal, int timeoutMs)

void	getFilterConfigs (FilterConfiguration filter)

Public Member Functions inherited from com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced
ErrorCode	configSelectedFeedbackSensor (FeedbackDevice feedbackDevice, int pidIdx, int timeoutMs)

Protected Member Functions
ErrorCode	configurePID (TalonFXPIDSetConfiguration pid, int pidIdx, int timeoutMs)

ErrorCode	configurePID (TalonFXPIDSetConfiguration pid)

Protected Member Functions inherited from com.ctre.phoenix.motorcontrol.can.BaseTalon
SensorCollection	getTalonSRXSensorCollection ()

TalonFXSensorCollection	getTalonFXSensorCollection ()

TalonSRXSimCollection	getTalonSRXSimCollection ()

ErrorCode	configurePID (BaseTalonPIDSetConfiguration pid, int pidIdx, int timeoutMs, boolean enableOptimizations)

ErrorCode	configurePID (BaseTalonPIDSetConfiguration pid)

void	getPIDConfigs (BaseTalonPIDSetConfiguration pid, int pidIdx, int timeoutMs)

void	getPIDConfigs (BaseTalonPIDSetConfiguration pid)

ErrorCode	configAllSettings (BaseTalonConfiguration allConfigs, int timeoutMs)

ErrorCode	configAllSettings (BaseTalonConfiguration allConfigs)

void	getAllConfigs (BaseTalonConfiguration allConfigs, int timeoutMs)

void	getAllConfigs (BaseTalonConfiguration allConfigs)

Protected Member Functions inherited from com.ctre.phoenix.motorcontrol.can.BaseMotorController
VictorSPXSimCollection	getVictorSPXSimCollection ()

double	getOutputCurrent ()

ErrorCode	configForwardLimitSwitchSource (int typeValue, int normalOpenOrCloseValue, int deviceID, int timeoutMs)

ErrorCode	configReverseLimitSwitchSource (int typeValue, int normalOpenOrCloseValue, int deviceID, int timeoutMs)

ErrorCode	baseConfigAllSettings (BaseMotorControllerConfiguration allConfigs, int timeoutMs)

ErrorCode	baseConfigurePID (BasePIDSetConfiguration pid, int pidIdx, int timeoutMs)

void	baseGetPIDConfigs (BasePIDSetConfiguration pid, int pidIdx, int timeoutMs)

void	baseGetAllConfigs (BaseMotorControllerConfiguration allConfigs, int timeoutMs)

Additional Inherited Members
Protected Attributes inherited from com.ctre.phoenix.motorcontrol.can.BaseMotorController
long	m_handle

Constructor & Destructor Documentation

◆ TalonFX()

com.ctre.phoenix.motorcontrol.can.TalonFX.TalonFX ( int deviceNumber )

inline

Constructor

Parameters

deviceNumber [0,62]

Member Function Documentation

◆ configAllSettings() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configAllSettings	(	TalonFXConfiguration	allConfigs,
		int	timeoutMs
	)

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.

◆ configAllSettings() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configAllSettings ( TalonFXConfiguration allConfigs )

inline

Configures all persistent settings.

Parameters

allConfigs Object with all of the persistant settings

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

◆ configGetMotorCommutation() [1/2]

MotorCommutation com.ctre.phoenix.motorcontrol.can.TalonFX.configGetMotorCommutation ( int timeoutMs )

inline

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.

Returns: The motor commutation type.

◆ configGetMotorCommutation() [2/2]

MotorCommutation com.ctre.phoenix.motorcontrol.can.TalonFX.configGetMotorCommutation ( )

inline

Returns: The motor commutation type.

◆ configGetStatorCurrentLimit() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configGetStatorCurrentLimit	(	StatorCurrentLimitConfiguration	currLimitConfigsToFill,
		int	timeoutMs
	)

inline

Gets the stator (output) current limit configuration.

Parameters

currLimitConfigsToFill	Configuration object to fill with read values.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.

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

◆ configGetStatorCurrentLimit() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configGetStatorCurrentLimit ( StatorCurrentLimitConfiguration currLimitConfigsToFill )

inline

Gets the stator (output) current limit configuration.

Parameters

currLimitConfigsToFill Configuration object to fill with read values.

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

◆ configGetSupplyCurrentLimit() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configGetSupplyCurrentLimit	(	SupplyCurrentLimitConfiguration	currLimitConfigsToFill,
		int	timeoutMs
	)

inline

Gets the supply (input) current limit configuration.

Parameters

currLimitConfigsToFill	Configuration object to fill with read values.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out.

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

◆ configGetSupplyCurrentLimit() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configGetSupplyCurrentLimit ( SupplyCurrentLimitConfiguration currLimitConfigsToFill )

inline

Gets the supply (input) current limit configuration.

Parameters

currLimitConfigsToFill Configuration object to fill with read values..

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

◆ configIntegratedSensorAbsoluteRange() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configIntegratedSensorAbsoluteRange	(	AbsoluteSensorRange	absoluteSensorRange,
		int	timeoutMs
	)

inline

Sets the signage and range of the "Absolute Position" signal. Choose unsigned for an absolute range of [0,+1) rotations, [0,360) deg, etc... Choose signed for an absolute range of [-0.5,+0.5) rotations, [-180,+180) deg, etc...

Parameters

absoluteSensorRange	Desired Sign/Range for the absolute position register.
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.

◆ configIntegratedSensorAbsoluteRange() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configIntegratedSensorAbsoluteRange ( AbsoluteSensorRange absoluteSensorRange )

inline

Sets the signage and range of the "Absolute Position" signal. Choose unsigned for an absolute range of [0,+1) rotations, [0,360) deg, etc... Choose signed for an absolute range of [-0.5,+0.5) rotations, [-180,+180) deg, etc...

Parameters

absoluteSensorRange Desired Sign/Range for the absolute position register.

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

◆ configIntegratedSensorInitializationStrategy() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configIntegratedSensorInitializationStrategy	(	SensorInitializationStrategy	initializationStrategy,
		int	timeoutMs
	)

inline

Pick the strategy on how to initialize the integrated sensor register. Depending on the mechanism, it may be desirable to auto set the Position register to match the Absolute Position (swerve for example). Or it may be desired to zero the sensor on boot (drivetrain translation sensor or a relative servo).

TIP: Tuner's self-test feature will report what the boot sensor value will be in the event the product is reset.

Parameters

initializationStrategy	The sensor initialization strategy to use. This will impact the behavior the next time product boots up.
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.

◆ configIntegratedSensorInitializationStrategy() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configIntegratedSensorInitializationStrategy ( SensorInitializationStrategy initializationStrategy )

inline

Pick the strategy on how to initialize the integrated sensor register. Depending on the mechanism, it may be desirable to auto set the Position register to match the Absolute Position (swerve for example). Or it may be desired to zero the sensor on boot (drivetrain translation sensor or a relative servo).

TIP: Tuner's self-test feature will report what the boot sensor value will be in the event the product is reset.

Parameters

initializationStrategy The sensor initialization strategy to use. This will impact the behavior the next time product boots up.

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

◆ configIntegratedSensorOffset() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configIntegratedSensorOffset	(	double	offsetDegrees,
		int	timeoutMs
	)

inline

Adjusts the zero point for the integrated sensor absolute position register. The absolute position of the sensor will always have a discontinuity (360 -> 0 deg) or (+180 -> -180) and a hard-limited mechanism may have such a discontinuity in its functional range. In which case use this config to move the discontinuity outside of the function range.

Parameters

offsetDegrees	Offset in degrees
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.

◆ configIntegratedSensorOffset() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configIntegratedSensorOffset ( double offsetDegrees )

inline

Adjusts the zero point for the integrated sensor absolute position register. The absolute position of the sensor will always have a discontinuity (360 -> 0 deg) or (+180 -> -180) and a hard-limited mechanism may have such a discontinuity in its functional range. In which case use this config to move the discontinuity outside of the function range.

Parameters

offsetDegrees Offset in degrees

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

◆ configMotorCommutation() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configMotorCommutation	(	MotorCommutation	motorCommutation,
		int	timeoutMs
	)

inline

Configure the motor commutation type.

Parameters

motorCommutation	Motor Commutation Type.
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.

◆ configMotorCommutation() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configMotorCommutation ( MotorCommutation motorCommutation )

inline

Configure the motor commutation type.

Parameters

motorCommutation Motor Commutation Type.

◆ configSelectedFeedbackSensor()

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configSelectedFeedbackSensor	(	TalonFXFeedbackDevice	feedbackDevice,
		int	pidIdx,
		int	timeoutMs
	)

inline

Select the feedback device for the motor controller.

Parameters

feedbackDevice	Talon FX 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.

◆ configStatorCurrentLimit() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configStatorCurrentLimit	(	StatorCurrentLimitConfiguration	currLimitCfg,
		int	timeoutMs
	)

inline

Configures the stator (output) 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.

◆ configStatorCurrentLimit() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configStatorCurrentLimit ( StatorCurrentLimitConfiguration currLimitCfg )

inline

Configures the stator (output) current limit.

Parameters

currLimitCfg Current limit configuration

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

◆ configSupplyCurrentLimit() [1/2]

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

inline

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.

Implements com.ctre.phoenix.motorcontrol.IMotorControllerEnhanced.

◆ configSupplyCurrentLimit() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configSupplyCurrentLimit ( SupplyCurrentLimitConfiguration currLimitCfg )

inline

Configures the supply (input) current limit.

Parameters

currLimitCfg Current limit configuration

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

◆ configurePID() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configurePID	(	TalonFXPIDSetConfiguration	pid,
		int	pidIdx,
		int	timeoutMs
	)

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.

◆ configurePID() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.configurePID ( TalonFXPIDSetConfiguration pid )

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.

◆ getAllConfigs() [1/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.getAllConfigs	(	TalonFXConfiguration	allConfigs,
		int	timeoutMs
	)

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.

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

◆ getAllConfigs() [2/2]

ErrorCode com.ctre.phoenix.motorcontrol.can.TalonFX.getAllConfigs ( TalonFXConfiguration allConfigs )

inline

Gets all persistant 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.

◆ getPIDConfigs() [1/2]

void com.ctre.phoenix.motorcontrol.can.TalonFX.getPIDConfigs	(	TalonFXPIDSetConfiguration	pid,
		int	pidIdx,
		int	timeoutMs
	)

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.

◆ getPIDConfigs() [2/2]

void com.ctre.phoenix.motorcontrol.can.TalonFX.getPIDConfigs ( TalonFXPIDSetConfiguration pid )

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

◆ getSensorCollection()

TalonFXSensorCollection com.ctre.phoenix.motorcontrol.can.TalonFX.getSensorCollection ( )

inline

Returns: object that can get/set individual raw sensor values.

◆ set() [1/2]

void com.ctre.phoenix.motorcontrol.can.TalonFX.set	(	TalonFXControlMode	mode,
		double	value
	)

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);

◆ set() [2/2]

void com.ctre.phoenix.motorcontrol.can.TalonFX.set	(	TalonFXControlMode	mode,
		double	demand0,
		DemandType	demand1Type,
		double	demand1
	)

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);

◆ setInverted()

void com.ctre.phoenix.motorcontrol.can.TalonFX.setInverted ( TalonFXInvertType invertType )

inline

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:

Spin counterclockwise (default)
Spin Clockwise (invert direction)
Always follow the master regardless of master's inversion
Always oppose the master regardless of master's inversion

Parameters

invertType Invert state to set.

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

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

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ TalonFX()

Member Function Documentation

◆ configAllSettings() [1/2]

◆ configAllSettings() [2/2]

◆ configGetMotorCommutation() [1/2]

◆ configGetMotorCommutation() [2/2]

◆ configGetStatorCurrentLimit() [1/2]

◆ configGetStatorCurrentLimit() [2/2]

◆ configGetSupplyCurrentLimit() [1/2]

◆ configGetSupplyCurrentLimit() [2/2]

◆ configIntegratedSensorAbsoluteRange() [1/2]

◆ configIntegratedSensorAbsoluteRange() [2/2]

◆ configIntegratedSensorInitializationStrategy() [1/2]

◆ configIntegratedSensorInitializationStrategy() [2/2]

◆ configIntegratedSensorOffset() [1/2]

◆ configIntegratedSensorOffset() [2/2]

◆ configMotorCommutation() [1/2]

◆ configMotorCommutation() [2/2]

◆ configSelectedFeedbackSensor()

◆ configStatorCurrentLimit() [1/2]

◆ configStatorCurrentLimit() [2/2]

◆ configSupplyCurrentLimit() [1/2]

◆ configSupplyCurrentLimit() [2/2]

◆ configurePID() [1/2]

◆ configurePID() [2/2]

◆ getAllConfigs() [1/2]

◆ getAllConfigs() [2/2]

◆ getPIDConfigs() [1/2]

◆ getPIDConfigs() [2/2]

◆ getSensorCollection()

◆ set() [1/2]

◆ set() [2/2]

◆ setInverted()