Class TalonFXSConfiguration

java.lang.Object

com.ctre.phoenix6.configs.TalonFXSConfiguration

All Implemented Interfaces:

ParentConfiguration, Cloneable

public class TalonFXSConfiguration
extends Object
implements ParentConfiguration, Cloneable

All configurations for the TalonFXS.

Field Summary

Fields

Modifier and Type	Field	Description
AudioConfigs	Audio	Configs that affect audible components of the device.
ClosedLoopGeneralConfigs	ClosedLoopGeneral	Configs that affect general behavior during closed-looping.
ClosedLoopRampsConfigs	ClosedLoopRamps	Configs that affect the closed-loop control of this motor controller.
CommutationConfigs	Commutation	Configs that determine motor selection and commutation.
CurrentLimitsConfigs	CurrentLimits	Configs that directly affect current limiting features.
CustomBrushlessMotorConfigs	CustomBrushlessMotor	Configs related to using a custom brushless motor that is not formally supported by Talon FXS.
CustomParamsConfigs	CustomParams	Custom Params.
DifferentialConstantsConfigs	DifferentialConstants	Configs related to constants used for differential control of a mechanism.
DifferentialSensorsConfigs	DifferentialSensors	Configs related to sensors used for differential control of a mechanism.
ExternalFeedbackConfigs	ExternalFeedback	Configs that affect the external feedback sensor of this motor controller.
ExternalTempConfigs	ExternalTemp	Configs related to using an independent thermister for automatically disabling a motor when a threshold has been reached.
boolean	FutureProofConfigs	True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.
HardwareLimitSwitchConfigs	HardwareLimitSwitch	Configs that change how the motor controller behaves under different limit switch states.
MotionMagicConfigs	MotionMagic	Configs for Motion Magic®.
MotorOutputConfigs	MotorOutput	Configs that directly affect motor output.
OpenLoopRampsConfigs	OpenLoopRamps	Configs that affect the open-loop control of this motor controller.
Slot0Configs	Slot0	Gains for the specified slot.
Slot1Configs	Slot1	Gains for the specified slot.
Slot2Configs	Slot2	Gains for the specified slot.
SoftwareLimitSwitchConfigs	SoftwareLimitSwitch	Configs that affect how software-limit switches behave.
VoltageConfigs	Voltage	Configs that affect Voltage control types.

Constructor Summary

Constructors

Constructor	Description
TalonFXSConfiguration()

Method Summary

Modifier and Type	Method	Description
TalonFXSConfiguration	clone()
final StatusCode	deserialize(String to_deserialize)	Take a string and deserialize it to this configuration.
final String	serialize()	Get the serialized form of this configuration.
String	toString()
final TalonFXSConfiguration	withAudio(AudioConfigs newAudio)	Modifies this configuration's Audio parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withClosedLoopGeneral(ClosedLoopGeneralConfigs newClosedLoopGeneral)	Modifies this configuration's ClosedLoopGeneral parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withClosedLoopRamps(ClosedLoopRampsConfigs newClosedLoopRamps)	Modifies this configuration's ClosedLoopRamps parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withCommutation(CommutationConfigs newCommutation)	Modifies this configuration's Commutation parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withCurrentLimits(CurrentLimitsConfigs newCurrentLimits)	Modifies this configuration's CurrentLimits parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withCustomBrushlessMotor(CustomBrushlessMotorConfigs newCustomBrushlessMotor)	Modifies this configuration's CustomBrushlessMotor parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withCustomParams(CustomParamsConfigs newCustomParams)	Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withDifferentialConstants(DifferentialConstantsConfigs newDifferentialConstants)	Modifies this configuration's DifferentialConstants parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withDifferentialSensors(DifferentialSensorsConfigs newDifferentialSensors)	Modifies this configuration's DifferentialSensors parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withExternalFeedback(ExternalFeedbackConfigs newExternalFeedback)	Modifies this configuration's ExternalFeedback parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withExternalTemp(ExternalTempConfigs newExternalTemp)	Modifies this configuration's ExternalTemp parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withHardwareLimitSwitch(HardwareLimitSwitchConfigs newHardwareLimitSwitch)	Modifies this configuration's HardwareLimitSwitch parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withMotionMagic(MotionMagicConfigs newMotionMagic)	Modifies this configuration's MotionMagic parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withMotorOutput(MotorOutputConfigs newMotorOutput)	Modifies this configuration's MotorOutput parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withOpenLoopRamps(OpenLoopRampsConfigs newOpenLoopRamps)	Modifies this configuration's OpenLoopRamps parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withSlot0(Slot0Configs newSlot0)	Modifies this configuration's Slot0 parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withSlot1(Slot1Configs newSlot1)	Modifies this configuration's Slot1 parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withSlot2(Slot2Configs newSlot2)	Modifies this configuration's Slot2 parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withSoftwareLimitSwitch(SoftwareLimitSwitchConfigs newSoftwareLimitSwitch)	Modifies this configuration's SoftwareLimitSwitch parameter and returns itself for method-chaining and easier to use config API.
final TalonFXSConfiguration	withVoltage(VoltageConfigs newVoltage)	Modifies this configuration's Voltage parameter and returns itself for method-chaining and easier to use config API.

Methods inherited from class Object

equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

FutureProofConfigs

public boolean FutureProofConfigs

True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.

This flag addresses a corner case where the device may have firmware with newer configs that didn't exist when this version of the API was built. If this occurs and this flag is true, unsupported new configs will be factory defaulted to avoid unexpected behavior.

This is also the behavior in Phoenix 5, so this flag is defaulted to true to match.

MotorOutput

public MotorOutputConfigs MotorOutput

Configs that directly affect motor output.

Includes motor invert, neutral mode, and other features related to motor output.

Parameter list:

• MotorOutputConfigs.Inverted
• MotorOutputConfigs.NeutralMode
• MotorOutputConfigs.DutyCycleNeutralDeadband
• MotorOutputConfigs.PeakForwardDutyCycle
• MotorOutputConfigs.PeakReverseDutyCycle
• MotorOutputConfigs.ControlTimesyncFreqHz

CurrentLimits

public CurrentLimitsConfigs CurrentLimits

Configs that directly affect current limiting features.

Contains the supply/stator current limit thresholds and whether to enable them.

Parameter list:

• CurrentLimitsConfigs.StatorCurrentLimit
• CurrentLimitsConfigs.StatorCurrentLimitEnable
• CurrentLimitsConfigs.SupplyCurrentLimit
• CurrentLimitsConfigs.SupplyCurrentLimitEnable
• CurrentLimitsConfigs.SupplyCurrentLowerLimit
• CurrentLimitsConfigs.SupplyCurrentLowerTime

Voltage

public VoltageConfigs Voltage

Configs that affect Voltage control types.

Includes peak output voltages and other configs affecting voltage measurements.

Parameter list:

• VoltageConfigs.SupplyVoltageTimeConstant
• VoltageConfigs.PeakForwardVoltage
• VoltageConfigs.PeakReverseVoltage

ExternalFeedback

public ExternalFeedbackConfigs ExternalFeedback

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.

Parameter list:

• ExternalFeedbackConfigs.SensorToMechanismRatio
• ExternalFeedbackConfigs.RotorToSensorRatio
• ExternalFeedbackConfigs.FeedbackRemoteSensorID
• ExternalFeedbackConfigs.VelocityFilterTimeConstant
• ExternalFeedbackConfigs.AbsoluteSensorOffset
• ExternalFeedbackConfigs.ExternalFeedbackSensorSource
• ExternalFeedbackConfigs.SensorPhase
• ExternalFeedbackConfigs.QuadratureEdgesPerRotation
• ExternalFeedbackConfigs.AbsoluteSensorDiscontinuityPoint

DifferentialSensors

public DifferentialSensorsConfigs DifferentialSensors

Configs related to sensors used for differential control of a mechanism.

Includes the differential sensor sources and IDs.

Parameter list:

• DifferentialSensorsConfigs.DifferentialSensorSource
• DifferentialSensorsConfigs.DifferentialTalonFXSensorID
• DifferentialSensorsConfigs.DifferentialRemoteSensorID
• DifferentialSensorsConfigs.SensorToDifferentialRatio

DifferentialConstants

public DifferentialConstantsConfigs DifferentialConstants

Configs related to constants used for differential control of a mechanism.

Includes the differential peak outputs.

Parameter list:

• DifferentialConstantsConfigs.PeakDifferentialDutyCycle
• DifferentialConstantsConfigs.PeakDifferentialVoltage
• DifferentialConstantsConfigs.PeakDifferentialTorqueCurrent

OpenLoopRamps

public OpenLoopRampsConfigs OpenLoopRamps

Configs that affect the open-loop control of this motor controller.

Open-loop ramp rates for the various control types.

Parameter list:

• OpenLoopRampsConfigs.DutyCycleOpenLoopRampPeriod
• OpenLoopRampsConfigs.VoltageOpenLoopRampPeriod
• OpenLoopRampsConfigs.TorqueOpenLoopRampPeriod

ClosedLoopRamps

public ClosedLoopRampsConfigs ClosedLoopRamps

Configs that affect the closed-loop control of this motor controller.

Closed-loop ramp rates for the various control types.

Parameter list:

• ClosedLoopRampsConfigs.DutyCycleClosedLoopRampPeriod
• ClosedLoopRampsConfigs.VoltageClosedLoopRampPeriod
• ClosedLoopRampsConfigs.TorqueClosedLoopRampPeriod

HardwareLimitSwitch

public HardwareLimitSwitchConfigs HardwareLimitSwitch

Configs that change how the motor controller behaves under different limit switch states.

Includes configs such as enabling limit switches, configuring the remote sensor ID, the source, and the position to set on limit.

Parameter list:

• HardwareLimitSwitchConfigs.ForwardLimitType
• HardwareLimitSwitchConfigs.ForwardLimitAutosetPositionEnable
• HardwareLimitSwitchConfigs.ForwardLimitAutosetPositionValue
• HardwareLimitSwitchConfigs.ForwardLimitEnable
• HardwareLimitSwitchConfigs.ForwardLimitSource
• HardwareLimitSwitchConfigs.ForwardLimitRemoteSensorID
• HardwareLimitSwitchConfigs.ReverseLimitType
• HardwareLimitSwitchConfigs.ReverseLimitAutosetPositionEnable
• HardwareLimitSwitchConfigs.ReverseLimitAutosetPositionValue
• HardwareLimitSwitchConfigs.ReverseLimitEnable
• HardwareLimitSwitchConfigs.ReverseLimitSource
• HardwareLimitSwitchConfigs.ReverseLimitRemoteSensorID

Audio

public AudioConfigs Audio

Configs that affect audible components of the device.

Includes configuration for the beep on boot.

Parameter list:

• AudioConfigs.BeepOnBoot
• AudioConfigs.BeepOnConfig
• AudioConfigs.AllowMusicDurDisable

SoftwareLimitSwitch

public SoftwareLimitSwitchConfigs SoftwareLimitSwitch

Configs that affect how software-limit switches behave.

Includes enabling software-limit switches and the threshold at which they are tripped.

Parameter list:

• SoftwareLimitSwitchConfigs.ForwardSoftLimitEnable
• SoftwareLimitSwitchConfigs.ReverseSoftLimitEnable
• SoftwareLimitSwitchConfigs.ForwardSoftLimitThreshold
• SoftwareLimitSwitchConfigs.ReverseSoftLimitThreshold

MotionMagic

public MotionMagicConfigs MotionMagic

Configs for Motion Magic®.

Includes Velocity, Acceleration, Jerk, and Expo parameters.

Parameter list:

• MotionMagicConfigs.MotionMagicCruiseVelocity
• MotionMagicConfigs.MotionMagicAcceleration
• MotionMagicConfigs.MotionMagicJerk
• MotionMagicConfigs.MotionMagicExpo_kV
• MotionMagicConfigs.MotionMagicExpo_kA

CustomParams

public CustomParamsConfigs CustomParams

Custom Params.

Custom paramaters that have no real impact on controller.

Parameter list:

• CustomParamsConfigs.CustomParam0
• CustomParamsConfigs.CustomParam1

ClosedLoopGeneral

public ClosedLoopGeneralConfigs ClosedLoopGeneral

Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features.

Parameter list:

• ClosedLoopGeneralConfigs.ContinuousWrap
• ClosedLoopGeneralConfigs.DifferentialContinuousWrap
• ClosedLoopGeneralConfigs.GainSchedErrorThreshold
• ClosedLoopGeneralConfigs.GainSchedKpBehavior

Commutation

public CommutationConfigs Commutation

Configs that determine motor selection and commutation.

Set these configs to match your motor setup before commanding motor output.

Parameter list:

• CommutationConfigs.AdvancedHallSupport
• CommutationConfigs.MotorArrangement
• CommutationConfigs.BrushedMotorWiring

CustomBrushlessMotor

public CustomBrushlessMotorConfigs CustomBrushlessMotor

Configs related to using a custom brushless motor that is not formally supported by Talon FXS.

Configs are only used when Motor Arrangement is set to Custom Brushless Motor. Note this feature will only work device is not FRC-Locked.

Users are responsible for ensuring that these configs are accurate to the motor. CTR Electronics is not responsible for damage caused by an incorrect custom motor configuration.

Parameter list:

• CustomBrushlessMotorConfigs.MotorKv
• CustomBrushlessMotorConfigs.PolePairCount
• CustomBrushlessMotorConfigs.HallDuringAB
• CustomBrushlessMotorConfigs.HallDuringAC
• CustomBrushlessMotorConfigs.HallCCWSelect
• CustomBrushlessMotorConfigs.HallDirection

ExternalTemp

public ExternalTempConfigs ExternalTemp

Configs related to using an independent thermister for automatically disabling a motor when a threshold has been reached.

Configs are only used when Motor Arrangement is set to Custom Brushless Motor or Brushed. Note this feature will only work device is not FRC-Locked.

Users are responsible for ensuring that these configs are accurate to the motor. CTR Electronics is not responsible for damage caused by an incorrect custom motor configuration.

Parameter list:

• ExternalTempConfigs.ThermistorMaxTemperature
• ExternalTempConfigs.ThermistorBeta
• ExternalTempConfigs.ThermistorR0
• ExternalTempConfigs.TempSensorRequired

Slot0

public Slot0Configs Slot0

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot0Configs.kP
• Slot0Configs.kI
• Slot0Configs.kD
• Slot0Configs.kS
• Slot0Configs.kV
• Slot0Configs.kA
• Slot0Configs.kG
• Slot0Configs.GravityType
• Slot0Configs.StaticFeedforwardSign
• Slot0Configs.GravityArmPositionOffset
• Slot0Configs.GainSchedBehavior

Slot1

public Slot1Configs Slot1

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot1Configs.kP
• Slot1Configs.kI
• Slot1Configs.kD
• Slot1Configs.kS
• Slot1Configs.kV
• Slot1Configs.kA
• Slot1Configs.kG
• Slot1Configs.GravityType
• Slot1Configs.StaticFeedforwardSign
• Slot1Configs.GravityArmPositionOffset
• Slot1Configs.GainSchedBehavior

Slot2

public Slot2Configs Slot2

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot2Configs.kP
• Slot2Configs.kI
• Slot2Configs.kD
• Slot2Configs.kS
• Slot2Configs.kV
• Slot2Configs.kA
• Slot2Configs.kG
• Slot2Configs.GravityType
• Slot2Configs.StaticFeedforwardSign
• Slot2Configs.GravityArmPositionOffset
• Slot2Configs.GainSchedBehavior

Constructor Details

TalonFXSConfiguration

public TalonFXSConfiguration()

Method Details

withMotorOutput

public final TalonFXSConfiguration withMotorOutput(MotorOutputConfigs newMotorOutput)

Modifies this configuration's MotorOutput parameter and returns itself for method-chaining and easier to use config API.

Configs that directly affect motor output.

Includes motor invert, neutral mode, and other features related to motor output.

Parameter list:

• MotorOutputConfigs.Inverted
• MotorOutputConfigs.NeutralMode
• MotorOutputConfigs.DutyCycleNeutralDeadband
• MotorOutputConfigs.PeakForwardDutyCycle
• MotorOutputConfigs.PeakReverseDutyCycle
• MotorOutputConfigs.ControlTimesyncFreqHz

Parameters:

newMotorOutput - Parameter to modify

Returns:

Itself

withCurrentLimits

public final TalonFXSConfiguration withCurrentLimits(CurrentLimitsConfigs newCurrentLimits)

Modifies this configuration's CurrentLimits parameter and returns itself for method-chaining and easier to use config API.

Configs that directly affect current limiting features.

Contains the supply/stator current limit thresholds and whether to enable them.

Parameter list:

• CurrentLimitsConfigs.StatorCurrentLimit
• CurrentLimitsConfigs.StatorCurrentLimitEnable
• CurrentLimitsConfigs.SupplyCurrentLimit
• CurrentLimitsConfigs.SupplyCurrentLimitEnable
• CurrentLimitsConfigs.SupplyCurrentLowerLimit
• CurrentLimitsConfigs.SupplyCurrentLowerTime

Parameters:

newCurrentLimits - Parameter to modify

Returns:

Itself

withVoltage

public final TalonFXSConfiguration withVoltage(VoltageConfigs newVoltage)

Modifies this configuration's Voltage parameter and returns itself for method-chaining and easier to use config API.

Configs that affect Voltage control types.

Includes peak output voltages and other configs affecting voltage measurements.

Parameter list:

• VoltageConfigs.SupplyVoltageTimeConstant
• VoltageConfigs.PeakForwardVoltage
• VoltageConfigs.PeakReverseVoltage

Parameters:

newVoltage - Parameter to modify

Returns:

Itself

withExternalFeedback

public final TalonFXSConfiguration withExternalFeedback(ExternalFeedbackConfigs newExternalFeedback)

Modifies this configuration's ExternalFeedback parameter and returns itself for method-chaining and easier to use config API.

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.

Parameter list:

• ExternalFeedbackConfigs.SensorToMechanismRatio
• ExternalFeedbackConfigs.RotorToSensorRatio
• ExternalFeedbackConfigs.FeedbackRemoteSensorID
• ExternalFeedbackConfigs.VelocityFilterTimeConstant
• ExternalFeedbackConfigs.AbsoluteSensorOffset
• ExternalFeedbackConfigs.ExternalFeedbackSensorSource
• ExternalFeedbackConfigs.SensorPhase
• ExternalFeedbackConfigs.QuadratureEdgesPerRotation
• ExternalFeedbackConfigs.AbsoluteSensorDiscontinuityPoint

Parameters:

newExternalFeedback - Parameter to modify

Returns:

Itself

withDifferentialSensors

public final TalonFXSConfiguration withDifferentialSensors(DifferentialSensorsConfigs newDifferentialSensors)

Modifies this configuration's DifferentialSensors parameter and returns itself for method-chaining and easier to use config API.

Configs related to sensors used for differential control of a mechanism.

Includes the differential sensor sources and IDs.

Parameter list:

• DifferentialSensorsConfigs.DifferentialSensorSource
• DifferentialSensorsConfigs.DifferentialTalonFXSensorID
• DifferentialSensorsConfigs.DifferentialRemoteSensorID
• DifferentialSensorsConfigs.SensorToDifferentialRatio

Parameters:

newDifferentialSensors - Parameter to modify

Returns:

Itself

withDifferentialConstants

public final TalonFXSConfiguration withDifferentialConstants(DifferentialConstantsConfigs newDifferentialConstants)

Modifies this configuration's DifferentialConstants parameter and returns itself for method-chaining and easier to use config API.

Configs related to constants used for differential control of a mechanism.

Includes the differential peak outputs.

Parameter list:

• DifferentialConstantsConfigs.PeakDifferentialDutyCycle
• DifferentialConstantsConfigs.PeakDifferentialVoltage
• DifferentialConstantsConfigs.PeakDifferentialTorqueCurrent

Parameters:

newDifferentialConstants - Parameter to modify

Returns:

Itself

withOpenLoopRamps

public final TalonFXSConfiguration withOpenLoopRamps(OpenLoopRampsConfigs newOpenLoopRamps)

Modifies this configuration's OpenLoopRamps parameter and returns itself for method-chaining and easier to use config API.

Configs that affect the open-loop control of this motor controller.

Open-loop ramp rates for the various control types.

Parameter list:

• OpenLoopRampsConfigs.DutyCycleOpenLoopRampPeriod
• OpenLoopRampsConfigs.VoltageOpenLoopRampPeriod
• OpenLoopRampsConfigs.TorqueOpenLoopRampPeriod

Parameters:

newOpenLoopRamps - Parameter to modify

Returns:

Itself

withClosedLoopRamps

public final TalonFXSConfiguration withClosedLoopRamps(ClosedLoopRampsConfigs newClosedLoopRamps)

Modifies this configuration's ClosedLoopRamps parameter and returns itself for method-chaining and easier to use config API.

Configs that affect the closed-loop control of this motor controller.

Closed-loop ramp rates for the various control types.

Parameter list:

• ClosedLoopRampsConfigs.DutyCycleClosedLoopRampPeriod
• ClosedLoopRampsConfigs.VoltageClosedLoopRampPeriod
• ClosedLoopRampsConfigs.TorqueClosedLoopRampPeriod

Parameters:

newClosedLoopRamps - Parameter to modify

Returns:

Itself

withHardwareLimitSwitch

public final TalonFXSConfiguration withHardwareLimitSwitch(HardwareLimitSwitchConfigs newHardwareLimitSwitch)

Modifies this configuration's HardwareLimitSwitch parameter and returns itself for method-chaining and easier to use config API.

Configs that change how the motor controller behaves under different limit switch states.

Includes configs such as enabling limit switches, configuring the remote sensor ID, the source, and the position to set on limit.

Parameter list:

• HardwareLimitSwitchConfigs.ForwardLimitType
• HardwareLimitSwitchConfigs.ForwardLimitAutosetPositionEnable
• HardwareLimitSwitchConfigs.ForwardLimitAutosetPositionValue
• HardwareLimitSwitchConfigs.ForwardLimitEnable
• HardwareLimitSwitchConfigs.ForwardLimitSource
• HardwareLimitSwitchConfigs.ForwardLimitRemoteSensorID
• HardwareLimitSwitchConfigs.ReverseLimitType
• HardwareLimitSwitchConfigs.ReverseLimitAutosetPositionEnable
• HardwareLimitSwitchConfigs.ReverseLimitAutosetPositionValue
• HardwareLimitSwitchConfigs.ReverseLimitEnable
• HardwareLimitSwitchConfigs.ReverseLimitSource
• HardwareLimitSwitchConfigs.ReverseLimitRemoteSensorID

Parameters:

newHardwareLimitSwitch - Parameter to modify

Returns:

Itself

withAudio

public final TalonFXSConfiguration withAudio(AudioConfigs newAudio)

Modifies this configuration's Audio parameter and returns itself for method-chaining and easier to use config API.

Configs that affect audible components of the device.

Includes configuration for the beep on boot.

Parameter list:

• AudioConfigs.BeepOnBoot
• AudioConfigs.BeepOnConfig
• AudioConfigs.AllowMusicDurDisable

Parameters:

newAudio - Parameter to modify

Returns:

Itself

withSoftwareLimitSwitch

public final TalonFXSConfiguration withSoftwareLimitSwitch(SoftwareLimitSwitchConfigs newSoftwareLimitSwitch)

Modifies this configuration's SoftwareLimitSwitch parameter and returns itself for method-chaining and easier to use config API.

Configs that affect how software-limit switches behave.

Includes enabling software-limit switches and the threshold at which they are tripped.

Parameter list:

• SoftwareLimitSwitchConfigs.ForwardSoftLimitEnable
• SoftwareLimitSwitchConfigs.ReverseSoftLimitEnable
• SoftwareLimitSwitchConfigs.ForwardSoftLimitThreshold
• SoftwareLimitSwitchConfigs.ReverseSoftLimitThreshold

Parameters:

newSoftwareLimitSwitch - Parameter to modify

Returns:

Itself

withMotionMagic

public final TalonFXSConfiguration withMotionMagic(MotionMagicConfigs newMotionMagic)

Modifies this configuration's MotionMagic parameter and returns itself for method-chaining and easier to use config API.

Configs for Motion Magic®.

Includes Velocity, Acceleration, Jerk, and Expo parameters.

Parameter list:

• MotionMagicConfigs.MotionMagicCruiseVelocity
• MotionMagicConfigs.MotionMagicAcceleration
• MotionMagicConfigs.MotionMagicJerk
• MotionMagicConfigs.MotionMagicExpo_kV
• MotionMagicConfigs.MotionMagicExpo_kA

Parameters:

newMotionMagic - Parameter to modify

Returns:

Itself

withCustomParams

public final TalonFXSConfiguration withCustomParams(CustomParamsConfigs newCustomParams)

Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.

Custom Params.

Custom paramaters that have no real impact on controller.

Parameter list:

• CustomParamsConfigs.CustomParam0
• CustomParamsConfigs.CustomParam1

Parameters:

newCustomParams - Parameter to modify

Returns:

Itself

withClosedLoopGeneral

public final TalonFXSConfiguration withClosedLoopGeneral(ClosedLoopGeneralConfigs newClosedLoopGeneral)

Modifies this configuration's ClosedLoopGeneral parameter and returns itself for method-chaining and easier to use config API.

Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features.

Parameter list:

• ClosedLoopGeneralConfigs.ContinuousWrap
• ClosedLoopGeneralConfigs.DifferentialContinuousWrap
• ClosedLoopGeneralConfigs.GainSchedErrorThreshold
• ClosedLoopGeneralConfigs.GainSchedKpBehavior

Parameters:

newClosedLoopGeneral - Parameter to modify

Returns:

Itself

withCommutation

public final TalonFXSConfiguration withCommutation(CommutationConfigs newCommutation)

Modifies this configuration's Commutation parameter and returns itself for method-chaining and easier to use config API.

Configs that determine motor selection and commutation.

Set these configs to match your motor setup before commanding motor output.

Parameter list:

• CommutationConfigs.AdvancedHallSupport
• CommutationConfigs.MotorArrangement
• CommutationConfigs.BrushedMotorWiring

Parameters:

newCommutation - Parameter to modify

Returns:

Itself

withCustomBrushlessMotor

public final TalonFXSConfiguration withCustomBrushlessMotor(CustomBrushlessMotorConfigs newCustomBrushlessMotor)

Modifies this configuration's CustomBrushlessMotor parameter and returns itself for method-chaining and easier to use config API.

Configs related to using a custom brushless motor that is not formally supported by Talon FXS.

Configs are only used when Motor Arrangement is set to Custom Brushless Motor. Note this feature will only work device is not FRC-Locked.

Users are responsible for ensuring that these configs are accurate to the motor. CTR Electronics is not responsible for damage caused by an incorrect custom motor configuration.

Parameter list:

• CustomBrushlessMotorConfigs.MotorKv
• CustomBrushlessMotorConfigs.PolePairCount
• CustomBrushlessMotorConfigs.HallDuringAB
• CustomBrushlessMotorConfigs.HallDuringAC
• CustomBrushlessMotorConfigs.HallCCWSelect
• CustomBrushlessMotorConfigs.HallDirection

Parameters:

newCustomBrushlessMotor - Parameter to modify

Returns:

Itself

withExternalTemp

public final TalonFXSConfiguration withExternalTemp(ExternalTempConfigs newExternalTemp)

Modifies this configuration's ExternalTemp parameter and returns itself for method-chaining and easier to use config API.

Configs related to using an independent thermister for automatically disabling a motor when a threshold has been reached.

Configs are only used when Motor Arrangement is set to Custom Brushless Motor or Brushed. Note this feature will only work device is not FRC-Locked.

Users are responsible for ensuring that these configs are accurate to the motor. CTR Electronics is not responsible for damage caused by an incorrect custom motor configuration.

Parameter list:

• ExternalTempConfigs.ThermistorMaxTemperature
• ExternalTempConfigs.ThermistorBeta
• ExternalTempConfigs.ThermistorR0
• ExternalTempConfigs.TempSensorRequired

Parameters:

newExternalTemp - Parameter to modify

Returns:

Itself

withSlot0

public final TalonFXSConfiguration withSlot0(Slot0Configs newSlot0)

Modifies this configuration's Slot0 parameter and returns itself for method-chaining and easier to use config API.

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot0Configs.kP
• Slot0Configs.kI
• Slot0Configs.kD
• Slot0Configs.kS
• Slot0Configs.kV
• Slot0Configs.kA
• Slot0Configs.kG
• Slot0Configs.GravityType
• Slot0Configs.StaticFeedforwardSign
• Slot0Configs.GravityArmPositionOffset
• Slot0Configs.GainSchedBehavior

Parameters:

newSlot0 - Parameter to modify

Returns:

Itself

withSlot1

public final TalonFXSConfiguration withSlot1(Slot1Configs newSlot1)

Modifies this configuration's Slot1 parameter and returns itself for method-chaining and easier to use config API.

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot1Configs.kP
• Slot1Configs.kI
• Slot1Configs.kD
• Slot1Configs.kS
• Slot1Configs.kV
• Slot1Configs.kA
• Slot1Configs.kG
• Slot1Configs.GravityType
• Slot1Configs.StaticFeedforwardSign
• Slot1Configs.GravityArmPositionOffset
• Slot1Configs.GainSchedBehavior

Parameters:

newSlot1 - Parameter to modify

Returns:

Itself

withSlot2

public final TalonFXSConfiguration withSlot2(Slot2Configs newSlot2)

Modifies this configuration's Slot2 parameter and returns itself for method-chaining and easier to use config API.

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameter list:

• Slot2Configs.kP
• Slot2Configs.kI
• Slot2Configs.kD
• Slot2Configs.kS
• Slot2Configs.kV
• Slot2Configs.kA
• Slot2Configs.kG
• Slot2Configs.GravityType
• Slot2Configs.StaticFeedforwardSign
• Slot2Configs.GravityArmPositionOffset
• Slot2Configs.GainSchedBehavior

Parameters:

newSlot2 - 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.

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.

Specified by:

deserialize in interface ParentConfiguration

Parameters:

to_deserialize - The serialized configuration

Returns:

Return code of the deserialize method

clone

public TalonFXSConfiguration clone()

Overrides:

clone in class Object