Class ExternalFeedbackConfigs

java.lang.Object
com.ctre.phoenix6.configs.ExternalFeedbackConfigs
All Implemented Interfaces:
ParentConfiguration, Cloneable
public class ExternalFeedbackConfigs extends Object implements ParentConfiguration, Cloneable
Configs that affect the external feedback sensor of this motor controller.

Includes feedback sensor source, offsets and sensor phase for the feedback sensor, and various ratios to describe the relationship between the sensor and the mechanism for closed looping.

  • Field Details

    • SensorToMechanismRatio

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

      This is equivalent to the mechanism's gear ratio if the sensor is located on the input of a gearbox. If sensor is on the output of a gearbox, then this is typically set to 1.

      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

    • RotorToSensorRatio

      public double RotorToSensorRatio
      The ratio of motor rotor rotations to remote sensor rotations, where a ratio greater than 1 is a reduction.

      The Talon FX is capable of fusing a remote CANcoder with its rotor sensor to produce a high-bandwidth sensor source. This feature requires specifying the ratio between the motor rotor and the remote sensor.

      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

    • FeedbackRemoteSensorID

      public int FeedbackRemoteSensorID
      Device ID of which remote device to use. This is not used if the Sensor Source is the internal rotor sensor.
      • Minimum Value: 0
      • Maximum Value: 62
      • Default Value: 0
      • Units:

    • VelocityFilterTimeConstant

      public double VelocityFilterTimeConstant
      The configurable time constant of the Kalman velocity filter. The velocity Kalman filter will adjust to act as a low-pass with this value as its time constant.

      If the user is aiming for an expected cutoff frequency, the frequency is calculated as 1 / (2 * π * τ) with τ being the time constant.

      • Minimum Value: 0
      • Maximum Value: 1
      • Default Value: 0
      • Units: seconds

    • AbsoluteSensorOffset

      public double AbsoluteSensorOffset
      The offset added to any absolute sensor connected to the Talon data port. This is only supported when using the PulseWidth sensor source.

      This can be used to zero the sensor position in applications where the sensor is 1:1 with the mechanism.

      • Minimum Value: -1
      • Maximum Value: 1
      • Default Value: 0.0
      • Units: rotations

    • ExternalFeedbackSensorSource

      public ExternalFeedbackSensorSourceValue ExternalFeedbackSensorSource
      Choose what sensor source is reported via API and used by closed-loop and limit features. The default is Commutation, which uses the external sensor used for motor commutation.

      Choose Remote* to use another sensor on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position and velocity whenever the remote sensor publishes its information on CAN bus, and the Talon commutation sensor will not be used.

      Choose Fused* (requires Phoenix Pro) and Talon will fuse another sensor's information with the commutation sensor, which provides the best possible position and velocity for accuracy and bandwidth (this also requires setting FeedbackRemoteSensorID). This was developed for applications such as swerve-azimuth.

      Choose Sync* (requires Phoenix Pro) and Talon will synchronize its commutation sensor position against another sensor, then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID). The Talon will report if its internal position differs significantly from the reported remote sensor position. This was developed for mechanisms where there is a risk of the sensor failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

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

      Choose Quadrature to use a quadrature encoder directly attached to the Talon data port. This provides velocity and relative position measurements.

      Choose PulseWidth to use a pulse-width encoder directly attached to the Talon data port. This provides velocity and absolute position measurements.

      Note: When the feedback source is changed to Fused* or Sync*, the Talon needs a period of time to fuse before sensor-based (soft-limit, closed loop, etc.) features are used. This period of time is determined by the update frequency of the remote sensor's Position signal.

    • SensorPhase

      public SensorPhaseValue SensorPhase
      The relationship between the motor controlled by a Talon and the external sensor connected to the data port. This does not affect the commutation sensor or remote sensors.

      To determine the sensor phase, set this config to Aligned and drive the motor with positive output. If the reported sensor velocity is positive, then the phase is Aligned. If the reported sensor velocity is negative, then the phase is Opposed.

      The sensor direction is automatically inverted along with motor invert, so the sensor phase does not need to be changed when motor invert changes.

    • QuadratureEdgesPerRotation

      public int QuadratureEdgesPerRotation
      The number of quadrature edges in one rotation for the quadrature sensor connected to the Talon data port.

      This is the total number of transitions from high-to-low or low-to-high across both channels per rotation of the sensor. This is also equivalent to the Counts Per Revolution when using 4x decoding.

      For example, the SRX Mag Encoder has 4096 edges per rotation, and a US Digital 1024 CPR (Cycles Per Revolution) quadrature encoder has 4096 edges per rotation.

      On the Talon FXS, this can be at most 2,000,000,000 / Peak RPM.

      • Minimum Value: 1
      • Maximum Value: 1000000
      • Default Value: 4096
      • Units:

    • AbsoluteSensorDiscontinuityPoint

      public double AbsoluteSensorDiscontinuityPoint
      The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position (after offset) in the range [x-1, x).
      • Setting this to 1 makes the absolute position unsigned [0, 1)
      • Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
      • Setting this to 0 makes the absolute position always negative [-1, 0)
      Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

      For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

      Given a total range of motion less than 1 rotation, users can calculate the discontinuity point using mean(lowerLimit, upperLimit) + 0.5. If that results in a value outside the range [0, 1], either cap the value to [0, 1], or add/subtract 1.0 rotation from your lower and upper limits of motion.

      On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

      • Minimum Value: 0.0
      • Maximum Value: 1.0
      • Default Value: 0.5
      • Units: rotations

  • Constructor Details

    • ExternalFeedbackConfigs

      public ExternalFeedbackConfigs()

  • Method Details

    • withSensorToMechanismRatio

      public final ExternalFeedbackConfigs withSensorToMechanismRatio(double newSensorToMechanismRatio)
      Modifies this configuration's SensorToMechanismRatio parameter and returns itself for method-chaining and easier to use config API.

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

      This is equivalent to the mechanism's gear ratio if the sensor is located on the input of a gearbox. If sensor is on the output of a gearbox, then this is typically set to 1.

      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:
      newSensorToMechanismRatio - Parameter to modify
      Returns:
      Itself

    • withRotorToSensorRatio

      public final ExternalFeedbackConfigs withRotorToSensorRatio(double newRotorToSensorRatio)
      Modifies this configuration's RotorToSensorRatio parameter and returns itself for method-chaining and easier to use config API.

      The ratio of motor rotor rotations to remote sensor rotations, where a ratio greater than 1 is a reduction.

      The Talon FX is capable of fusing a remote CANcoder with its rotor sensor to produce a high-bandwidth sensor source. This feature requires specifying the ratio between the motor rotor and the remote sensor.

      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:
      newRotorToSensorRatio - Parameter to modify
      Returns:
      Itself

    • withFeedbackRemoteSensorID

      public final ExternalFeedbackConfigs withFeedbackRemoteSensorID(int newFeedbackRemoteSensorID)
      Modifies this configuration's FeedbackRemoteSensorID parameter and returns itself for method-chaining and easier to use config API.

      Device ID of which remote device to use. This is not used if the Sensor Source is the internal rotor sensor.

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

    • withVelocityFilterTimeConstant

      public final ExternalFeedbackConfigs withVelocityFilterTimeConstant(double newVelocityFilterTimeConstant)
      Modifies this configuration's VelocityFilterTimeConstant parameter and returns itself for method-chaining and easier to use config API.

      The configurable time constant of the Kalman velocity filter. The velocity Kalman filter will adjust to act as a low-pass with this value as its time constant.

      If the user is aiming for an expected cutoff frequency, the frequency is calculated as 1 / (2 * π * τ) with τ being the time constant.

      • Minimum Value: 0
      • Maximum Value: 1
      • Default Value: 0
      • Units: seconds
      Parameters:
      newVelocityFilterTimeConstant - Parameter to modify
      Returns:
      Itself

    • withVelocityFilterTimeConstant

      public final ExternalFeedbackConfigs withVelocityFilterTimeConstant(Time newVelocityFilterTimeConstant)
      Modifies this configuration's VelocityFilterTimeConstant parameter and returns itself for method-chaining and easier to use config API.

      The configurable time constant of the Kalman velocity filter. The velocity Kalman filter will adjust to act as a low-pass with this value as its time constant.

      If the user is aiming for an expected cutoff frequency, the frequency is calculated as 1 / (2 * π * τ) with τ being the time constant.

      • Minimum Value: 0
      • Maximum Value: 1
      • Default Value: 0
      • Units: seconds
      Parameters:
      newVelocityFilterTimeConstant - Parameter to modify
      Returns:
      Itself

    • getVelocityFilterTimeConstantMeasure

      public final Time getVelocityFilterTimeConstantMeasure()
      Helper method to get this configuration's VelocityFilterTimeConstant parameter converted to a unit type. If not using the Java units library, VelocityFilterTimeConstant can be accessed directly instead.

      The configurable time constant of the Kalman velocity filter. The velocity Kalman filter will adjust to act as a low-pass with this value as its time constant.

      If the user is aiming for an expected cutoff frequency, the frequency is calculated as 1 / (2 * π * τ) with τ being the time constant.

      • Minimum Value: 0
      • Maximum Value: 1
      • Default Value: 0
      • Units: seconds
      Returns:
      VelocityFilterTimeConstant

    • withAbsoluteSensorOffset

      public final ExternalFeedbackConfigs withAbsoluteSensorOffset(double newAbsoluteSensorOffset)
      Modifies this configuration's AbsoluteSensorOffset parameter and returns itself for method-chaining and easier to use config API.

      The offset added to any absolute sensor connected to the Talon data port. This is only supported when using the PulseWidth sensor source.

      This can be used to zero the sensor position in applications where the sensor is 1:1 with the mechanism.

      • Minimum Value: -1
      • Maximum Value: 1
      • Default Value: 0.0
      • Units: rotations
      Parameters:
      newAbsoluteSensorOffset - Parameter to modify
      Returns:
      Itself

    • withAbsoluteSensorOffset

      public final ExternalFeedbackConfigs withAbsoluteSensorOffset(Angle newAbsoluteSensorOffset)
      Modifies this configuration's AbsoluteSensorOffset parameter and returns itself for method-chaining and easier to use config API.

      The offset added to any absolute sensor connected to the Talon data port. This is only supported when using the PulseWidth sensor source.

      This can be used to zero the sensor position in applications where the sensor is 1:1 with the mechanism.

      • Minimum Value: -1
      • Maximum Value: 1
      • Default Value: 0.0
      • Units: rotations
      Parameters:
      newAbsoluteSensorOffset - Parameter to modify
      Returns:
      Itself

    • getAbsoluteSensorOffsetMeasure

      public final Angle getAbsoluteSensorOffsetMeasure()
      Helper method to get this configuration's AbsoluteSensorOffset parameter converted to a unit type. If not using the Java units library, AbsoluteSensorOffset can be accessed directly instead.

      The offset added to any absolute sensor connected to the Talon data port. This is only supported when using the PulseWidth sensor source.

      This can be used to zero the sensor position in applications where the sensor is 1:1 with the mechanism.

      • Minimum Value: -1
      • Maximum Value: 1
      • Default Value: 0.0
      • Units: rotations
      Returns:
      AbsoluteSensorOffset

    • withExternalFeedbackSensorSource

      public final ExternalFeedbackConfigs withExternalFeedbackSensorSource(ExternalFeedbackSensorSourceValue newExternalFeedbackSensorSource)
      Modifies this configuration's ExternalFeedbackSensorSource parameter and returns itself for method-chaining and easier to use config API.

      Choose what sensor source is reported via API and used by closed-loop and limit features. The default is Commutation, which uses the external sensor used for motor commutation.

      Choose Remote* to use another sensor on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position and velocity whenever the remote sensor publishes its information on CAN bus, and the Talon commutation sensor will not be used.

      Choose Fused* (requires Phoenix Pro) and Talon will fuse another sensor's information with the commutation sensor, which provides the best possible position and velocity for accuracy and bandwidth (this also requires setting FeedbackRemoteSensorID). This was developed for applications such as swerve-azimuth.

      Choose Sync* (requires Phoenix Pro) and Talon will synchronize its commutation sensor position against another sensor, then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID). The Talon will report if its internal position differs significantly from the reported remote sensor position. This was developed for mechanisms where there is a risk of the sensor failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

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

      Choose Quadrature to use a quadrature encoder directly attached to the Talon data port. This provides velocity and relative position measurements.

      Choose PulseWidth to use a pulse-width encoder directly attached to the Talon data port. This provides velocity and absolute position measurements.

      Note: When the feedback source is changed to Fused* or Sync*, the Talon needs a period of time to fuse before sensor-based (soft-limit, closed loop, etc.) features are used. This period of time is determined by the update frequency of the remote sensor's Position signal.

      Parameters:
      newExternalFeedbackSensorSource - Parameter to modify
      Returns:
      Itself

    • withSensorPhase

      public final ExternalFeedbackConfigs withSensorPhase(SensorPhaseValue newSensorPhase)
      Modifies this configuration's SensorPhase parameter and returns itself for method-chaining and easier to use config API.

      The relationship between the motor controlled by a Talon and the external sensor connected to the data port. This does not affect the commutation sensor or remote sensors.

      To determine the sensor phase, set this config to Aligned and drive the motor with positive output. If the reported sensor velocity is positive, then the phase is Aligned. If the reported sensor velocity is negative, then the phase is Opposed.

      The sensor direction is automatically inverted along with motor invert, so the sensor phase does not need to be changed when motor invert changes.

      Parameters:
      newSensorPhase - Parameter to modify
      Returns:
      Itself

    • withQuadratureEdgesPerRotation

      public final ExternalFeedbackConfigs withQuadratureEdgesPerRotation(int newQuadratureEdgesPerRotation)
      Modifies this configuration's QuadratureEdgesPerRotation parameter and returns itself for method-chaining and easier to use config API.

      The number of quadrature edges in one rotation for the quadrature sensor connected to the Talon data port.

      This is the total number of transitions from high-to-low or low-to-high across both channels per rotation of the sensor. This is also equivalent to the Counts Per Revolution when using 4x decoding.

      For example, the SRX Mag Encoder has 4096 edges per rotation, and a US Digital 1024 CPR (Cycles Per Revolution) quadrature encoder has 4096 edges per rotation.

      On the Talon FXS, this can be at most 2,000,000,000 / Peak RPM.

      • Minimum Value: 1
      • Maximum Value: 1000000
      • Default Value: 4096
      • Units:
      Parameters:
      newQuadratureEdgesPerRotation - Parameter to modify
      Returns:
      Itself

    • withAbsoluteSensorDiscontinuityPoint

      public final ExternalFeedbackConfigs withAbsoluteSensorDiscontinuityPoint(double newAbsoluteSensorDiscontinuityPoint)
      Modifies this configuration's AbsoluteSensorDiscontinuityPoint parameter and returns itself for method-chaining and easier to use config API.

      The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position (after offset) in the range [x-1, x).

      • Setting this to 1 makes the absolute position unsigned [0, 1)
      • Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
      • Setting this to 0 makes the absolute position always negative [-1, 0)
      Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

      For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

      Given a total range of motion less than 1 rotation, users can calculate the discontinuity point using mean(lowerLimit, upperLimit) + 0.5. If that results in a value outside the range [0, 1], either cap the value to [0, 1], or add/subtract 1.0 rotation from your lower and upper limits of motion.

      On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

      • Minimum Value: 0.0
      • Maximum Value: 1.0
      • Default Value: 0.5
      • Units: rotations
      Parameters:
      newAbsoluteSensorDiscontinuityPoint - Parameter to modify
      Returns:
      Itself

    • withAbsoluteSensorDiscontinuityPoint

      public final ExternalFeedbackConfigs withAbsoluteSensorDiscontinuityPoint(Angle newAbsoluteSensorDiscontinuityPoint)
      Modifies this configuration's AbsoluteSensorDiscontinuityPoint parameter and returns itself for method-chaining and easier to use config API.

      The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position (after offset) in the range [x-1, x).

      • Setting this to 1 makes the absolute position unsigned [0, 1)
      • Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
      • Setting this to 0 makes the absolute position always negative [-1, 0)
      Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

      For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

      Given a total range of motion less than 1 rotation, users can calculate the discontinuity point using mean(lowerLimit, upperLimit) + 0.5. If that results in a value outside the range [0, 1], either cap the value to [0, 1], or add/subtract 1.0 rotation from your lower and upper limits of motion.

      On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

      • Minimum Value: 0.0
      • Maximum Value: 1.0
      • Default Value: 0.5
      • Units: rotations
      Parameters:
      newAbsoluteSensorDiscontinuityPoint - Parameter to modify
      Returns:
      Itself

    • getAbsoluteSensorDiscontinuityPointMeasure

      public final Angle getAbsoluteSensorDiscontinuityPointMeasure()
      Helper method to get this configuration's AbsoluteSensorDiscontinuityPoint parameter converted to a unit type. If not using the Java units library, AbsoluteSensorDiscontinuityPoint can be accessed directly instead.

      The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position (after offset) in the range [x-1, x).

      • Setting this to 1 makes the absolute position unsigned [0, 1)
      • Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
      • Setting this to 0 makes the absolute position always negative [-1, 0)
      Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

      For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

      Given a total range of motion less than 1 rotation, users can calculate the discontinuity point using mean(lowerLimit, upperLimit) + 0.5. If that results in a value outside the range [0, 1], either cap the value to [0, 1], or add/subtract 1.0 rotation from your lower and upper limits of motion.

      On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

      • Minimum Value: 0.0
      • Maximum Value: 1.0
      • Default Value: 0.5
      • Units: rotations
      Returns:
      AbsoluteSensorDiscontinuityPoint

    • withRemoteCANcoder

      public final ExternalFeedbackConfigs withRemoteCANcoder(CoreCANcoder device)
      Helper method to configure this feedback group to use RemoteCANcoder by passing in the CANcoder object.

      When using RemoteCANcoder, the Talon will use another CANcoder on the same CAN bus. The Talon will update its position and velocity whenever CANcoder publishes its information on CAN bus, and the Talon commutation sensor will not be used.

      Parameters:
      device - CANcoder reference to use for RemoteCANcoder
      Returns:
      Itself

    • withFusedCANcoder

      public final ExternalFeedbackConfigs withFusedCANcoder(CoreCANcoder device)
      Helper method to configure this feedback group to use FusedCANcoder by passing in the CANcoder object.

      When using FusedCANcoder (requires Phoenix Pro), the Talon will fuse another CANcoder's information with the commutation sensor, which provides the best possible position and velocity for accuracy and bandwidth. FusedCANcoder was developed for applications such as swerve-azimuth.

      Parameters:
      device - CANcoder reference to use for FusedCANcoder
      Returns:
      Itself

    • withSyncCANcoder

      public final ExternalFeedbackConfigs withSyncCANcoder(CoreCANcoder device)
      Helper method to configure this feedback group to use SyncCANcoder by passing in the CANcoder object.

      When using SyncCANcoder (requires Phoenix Pro), the Talon will synchronize its commutation sensor position against another CANcoder, then continue to use the rotor sensor for closed loop control. The Talon will report if its internal position differs significantly from the reported CANcoder position. SyncCANcoder was developed for mechanisms where there is a risk of the CANcoder failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

      Parameters:
      device - CANcoder reference to use for SyncCANcoder
      Returns:
      Itself

    • withRemotePigeon2Yaw

      public final ExternalFeedbackConfigs withRemotePigeon2Yaw(CorePigeon2 device)
      Helper method to configure this feedback group to use RemotePigeon2Yaw by passing in the Pigeon2 object.

      When using RemotePigeon2Yaw, the Talon will use another Pigeon2 on the same CAN bus. The Talon will update its position to match the Pigeon2 yaw whenever Pigeon2 publishes its information on CAN bus. Note that the Talon position will be in rotations and not degrees.

      Parameters:
      device - Pigeon2 reference to use for RemotePigeon2Yaw
      Returns:
      Itself

    • withRemotePigeon2Pitch

      public final ExternalFeedbackConfigs withRemotePigeon2Pitch(CorePigeon2 device)
      Helper method to configure this feedback group to use RemotePigeon2Pitch by passing in the Pigeon2 object.

      When using RemotePigeon2Pitch, the Talon will use another Pigeon2 on the same CAN bus. The Talon will update its position to match the Pigeon2 pitch whenever Pigeon2 publishes its information on CAN bus. Note that the Talon position will be in rotations and not degrees.

      Parameters:
      device - Pigeon2 reference to use for RemotePigeon2Pitch
      Returns:
      Itself

    • withRemotePigeon2Roll

      public final ExternalFeedbackConfigs withRemotePigeon2Roll(CorePigeon2 device)
      Helper method to configure this feedback group to use RemotePigeon2Roll by passing in the Pigeon2 object.

      When using RemotePigeon2Roll, the Talon will use another Pigeon2 on the same CAN bus. The Talon will update its position to match the Pigeon2 roll whenever Pigeon2 publishes its information on CAN bus. Note that the Talon position will be in rotations and not degrees.

      Parameters:
      device - Pigeon2 reference to use for RemotePigeon2Roll
      Returns:
      Itself

    • withRemoteCANdiPWM1

      public final ExternalFeedbackConfigs withRemoteCANdiPWM1(CoreCANdi device)
      Helper method to configure this feedback group to use RemoteCANdi PWM 1 by passing in the CANdi object.

      When using RemoteCANdi, the Talon will use another CTR Electronics' CANdi™ on the same CAN bus. The Talon will update its position and velocity whenever the CTR Electronics' CANdi™ publishes its information on CAN bus, and the Talon commutation sensor will not be used.

      Parameters:
      device - CANdi reference to use for RemoteCANdi
      Returns:
      Itself

    • withRemoteCANdiPWM2

      public final ExternalFeedbackConfigs withRemoteCANdiPWM2(CoreCANdi device)
      Helper method to configure this feedback group to use RemoteCANdi PWM 2 by passing in the CANdi object.

      When using RemoteCANdi, the Talon will use another CTR Electronics' CANdi™ on the same CAN bus. The Talon will update its position and velocity whenever the CTR Electronics' CANdi™ publishes its information on CAN bus, and the Talon commutation sensor will not be used.

      Parameters:
      device - CANdi reference to use for RemoteCANdi
      Returns:
      Itself

    • withRemoteCANdiQuadrature

      public final ExternalFeedbackConfigs withRemoteCANdiQuadrature(CoreCANdi device)
      Helper method to configure this feedback group to use RemoteCANdi Quadrature by passing in the CANdi object.

      When using RemoteCANdi, the Talon will use another CTR Electronics' CANdi™ on the same CAN bus. The Talon will update its position and velocity whenever the CTR Electronics' CANdi™ publishes its information on CAN bus, and the Talon commutation sensor will not be used.

      Parameters:
      device - CANdi reference to use for RemoteCANdi
      Returns:
      Itself

    • withFusedCANdiPWM1

      public final ExternalFeedbackConfigs withFusedCANdiPWM1(CoreCANdi device)
      Helper method to configure this feedback group to use FusedCANdi PWM 1 by passing in the CANdi object.

      When using FusedCANdi (requires Phoenix Pro), the Talon will fuse another CANdi™ branded device's information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth.

      Parameters:
      device - CANdi reference to use for FusedCANdi
      Returns:
      Itself

    • withFusedCANdiPWM2

      public final ExternalFeedbackConfigs withFusedCANdiPWM2(CoreCANdi device)
      Helper method to configure this feedback group to use FusedCANdi PWM 2 by passing in the CANdi object.

      When using FusedCANdi (requires Phoenix Pro), the Talon will fuse another CANdi™ branded device's information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth.

      Parameters:
      device - CANdi reference to use for FusedCANdi
      Returns:
      Itself

    • withFusedCANdiQuadrature

      public final ExternalFeedbackConfigs withFusedCANdiQuadrature(CoreCANdi device)
      Helper method to configure this feedback group to use FusedCANdi Quadrature by passing in the CANdi object.

      When using FusedCANdi (requires Phoenix Pro), the Talon will fuse another CANdi™ branded device's information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth.

      Parameters:
      device - CANdi reference to use for FusedCANdi
      Returns:
      Itself

    • withSyncCANdiPWM1

      public final ExternalFeedbackConfigs withSyncCANdiPWM1(CoreCANdi device)
      Helper method to configure this feedback group to use SyncCANdi PWM 1 by passing in the CANdi object.

      When using SyncCANdi (requires Phoenix Pro), the Talon will synchronize its internal rotor position against another CANdi™ branded device, then continue to use the rotor sensor for closed loop control. The Talon will report if its internal position differs significantly from the reported CANdi™ branded device's position. SyncCANdi was developed for mechanisms where there is a risk of the CANdi™ branded device failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

      Parameters:
      device - CANdi reference to use for SyncCANdi
      Returns:
      Itself

    • withSyncCANdiPWM2

      public final ExternalFeedbackConfigs withSyncCANdiPWM2(CoreCANdi device)
      Helper method to configure this feedback group to use SyncCANdi PWM 2 by passing in the CANdi object.

      When using SyncCANdi (requires Phoenix Pro), the Talon will synchronize its internal rotor position against another CANdi™ branded device, then continue to use the rotor sensor for closed loop control. The Talon will report if its internal position differs significantly from the reported CANdi™ branded device's position. SyncCANdi was developed for mechanisms where there is a risk of the CANdi™ branded device failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

      Parameters:
      device - CANdi reference to use for SyncCANdi
      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 ExternalFeedbackConfigs clone()
      Overrides:
      clone in class Object