Class DifferentialSensorsConfigs

java.lang.Object
com.ctre.phoenix6.configs.DifferentialSensorsConfigs
All Implemented Interfaces:
ParentConfiguration, Cloneable
public class DifferentialSensorsConfigs extends Object implements ParentConfiguration, Cloneable
Configs related to sensors used for differential control of a mechanism.

Includes the differential sensor sources and IDs.

  • Field Details

    • DifferentialSensorSource

      public DifferentialSensorSourceValue DifferentialSensorSource
      Choose what sensor source is used for differential control of a mechanism. The default is Disabled. All other options require setting the DifferentialTalonFXSensorID, as the average of this Talon FX's sensor and the remote TalonFX's sensor is used for the differential controller's primary targets.

      Choose RemoteTalonFX_HalfDiff to use another TalonFX on the same CAN bus. Talon FX will update its differential position and velocity whenever the remote TalonFX publishes its information on CAN bus. The differential controller will use half of the difference between this TalonFX's sensor and the remote Talon FX's sensor for the differential component of the output.

      Choose RemotePigeon2Yaw, RemotePigeon2Pitch, and RemotePigeon2Roll to use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position to match the selected value whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.

      Choose RemoteCANcoder to use another CANcoder on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position and velocity to match the CANcoder whenever CANcoder publishes its information on CAN bus.

    • DifferentialTalonFXSensorID

      public int DifferentialTalonFXSensorID
      Device ID of which remote Talon FX to use. This is used whenever the Differential Sensor Source is not disabled.

      The differential Talon FX must enable its Position and Velocity status signals. The update rate of the status signals determines the update rate of differential control.

      • Minimum Value: 0
      • Maximum Value: 62
      • Default Value: 0
      • Units:

    • DifferentialRemoteSensorID

      public int DifferentialRemoteSensorID
      Device ID of which remote sensor to use on the differential axis. This is used when the Differential Sensor Source is not Disabled or RemoteTalonFX_HalfDiff.
      • Minimum Value: 0
      • Maximum Value: 62
      • Default Value: 0
      • Units:

    • SensorToDifferentialRatio

      public double SensorToDifferentialRatio
      The ratio of sensor rotations to the differential mechanism's difference output, where a ratio greater than 1 is a reduction.

      When using RemoteTalonFX_HalfDiff, the sensor is considered half of the difference between the two devices' mechanism positions/velocities. As a result, this should be set to the gear ratio on the difference axis when using RemoteTalonFX_HalfDiff, or any gear ratio between the sensor and the mechanism differential when using another sensor source.

      We recommend against using this config to perform onboard unit conversions. Instead, unit conversions should be performed in robot code using the units library.

      If this is set to zero, the device will reset back to one.

      • Minimum Value: -1000
      • Maximum Value: 1000
      • Default Value: 1.0
      • Units: scalar

  • Constructor Details

    • DifferentialSensorsConfigs

      public DifferentialSensorsConfigs()

  • Method Details

    • withDifferentialSensorSource

      public final DifferentialSensorsConfigs withDifferentialSensorSource(DifferentialSensorSourceValue newDifferentialSensorSource)
      Modifies this configuration's DifferentialSensorSource parameter and returns itself for method-chaining and easier to use config API.

      Choose what sensor source is used for differential control of a mechanism. The default is Disabled. All other options require setting the DifferentialTalonFXSensorID, as the average of this Talon FX's sensor and the remote TalonFX's sensor is used for the differential controller's primary targets.

      Choose RemoteTalonFX_HalfDiff to use another TalonFX on the same CAN bus. Talon FX will update its differential position and velocity whenever the remote TalonFX publishes its information on CAN bus. The differential controller will use half of the difference between this TalonFX's sensor and the remote Talon FX's sensor for the differential component of the output.

      Choose RemotePigeon2Yaw, RemotePigeon2Pitch, and RemotePigeon2Roll to use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position to match the selected value whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.

      Choose RemoteCANcoder to use another CANcoder on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position and velocity to match the CANcoder whenever CANcoder publishes its information on CAN bus.

      Parameters:
      newDifferentialSensorSource - Parameter to modify
      Returns:
      Itself

    • withDifferentialTalonFXSensorID

      public final DifferentialSensorsConfigs withDifferentialTalonFXSensorID(int newDifferentialTalonFXSensorID)
      Modifies this configuration's DifferentialTalonFXSensorID parameter and returns itself for method-chaining and easier to use config API.

      Device ID of which remote Talon FX to use. This is used whenever the Differential Sensor Source is not disabled.

      The differential Talon FX must enable its Position and Velocity status signals. The update rate of the status signals determines the update rate of differential control.

      • Minimum Value: 0
      • Maximum Value: 62
      • Default Value: 0
      • Units:
      Parameters:
      newDifferentialTalonFXSensorID - Parameter to modify
      Returns:
      Itself

    • withDifferentialRemoteSensorID

      public final DifferentialSensorsConfigs withDifferentialRemoteSensorID(int newDifferentialRemoteSensorID)
      Modifies this configuration's DifferentialRemoteSensorID parameter and returns itself for method-chaining and easier to use config API.

      Device ID of which remote sensor to use on the differential axis. This is used when the Differential Sensor Source is not Disabled or RemoteTalonFX_HalfDiff.

      • Minimum Value: 0
      • Maximum Value: 62
      • Default Value: 0
      • Units:
      Parameters:
      newDifferentialRemoteSensorID - Parameter to modify
      Returns:
      Itself

    • withSensorToDifferentialRatio

      public final DifferentialSensorsConfigs withSensorToDifferentialRatio(double newSensorToDifferentialRatio)
      Modifies this configuration's SensorToDifferentialRatio parameter and returns itself for method-chaining and easier to use config API.

      The ratio of sensor rotations to the differential mechanism's difference output, where a ratio greater than 1 is a reduction.

      When using RemoteTalonFX_HalfDiff, the sensor is considered half of the difference between the two devices' mechanism positions/velocities. As a result, this should be set to the gear ratio on the difference axis when using RemoteTalonFX_HalfDiff, or any gear ratio between the sensor and the mechanism differential when using another sensor source.

      We recommend against using this config to perform onboard unit conversions. Instead, unit conversions should be performed in robot code using the units library.

      If this is set to zero, the device will reset back to one.

      • Minimum Value: -1000
      • Maximum Value: 1000
      • Default Value: 1.0
      • Units: scalar
      Parameters:
      newSensorToDifferentialRatio - Parameter to modify
      Returns:
      Itself

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • serialize

      public final String serialize()
      Get the serialized form of this configuration group.
      Specified by:
      serialize in interface ParentConfiguration
      Returns:
      Serialized form of this config group

    • deserialize

      public final StatusCode deserialize(String to_deserialize)
      Take a string and deserialize it to this configuration group.
      Specified by:
      deserialize in interface ParentConfiguration
      Parameters:
      to_deserialize - The serialized configuration
      Returns:
      Return code of the deserialize method

    • clone

      public DifferentialSensorsConfigs clone()
      Overrides:
      clone in class Object