Class CoreTalonFXS

java.lang.Object
com.ctre.phoenix6.hardware.ParentDevice
com.ctre.phoenix6.hardware.core.CoreTalonFXS
All Implemented Interfaces:
PhoenixAlertable, CommonDevice, CommonTalon, CommonTalonWithExternalMotor, HasExternalMotor, HasTalonControls, HasTalonSignals
Direct Known Subclasses:
TalonFXS
public class CoreTalonFXS extends ParentDevice implements CommonTalonWithExternalMotor
Class for the Talon FXS motor controller. 
// Constants used in TalonFXS construction
final int kTalonFXSId = 0;
final CANBus kTalonFXSCANbus = new CANBus("canivore");

// Construct the TalonFXS and control requests
final TalonFXS talonfxs = new TalonFXS(kTalonFXSId, kTalonFXSCANbus);
final DutyCycleOut dc = new DutyCycleOut(0);

// Configure the TalonFXS for basic use
TalonFXSConfiguration configs = new TalonFXSConfiguration();

// Make sure the motor arrangement is configured correctly
configs.Commutation.MotorArrangement = MotorArrangementValue.Minion_JST;

// This TalonFXS should be configured with a kP of 1, a kI of 0, a kD of 10, and a kV of 2 on slot 0
configs.Slot0.kP = 1;
configs.Slot0.kI = 0;
configs.Slot0.kD = 10;
configs.Slot0.kV = 2;

// Write these configs to the TalonFXS
talonfxs.getConfigurator().apply(configs);

// Set the position to 0 rotations for initial use
talonfxs.setPosition(0);

// Drive at 50% output
talonfxs.setControl(dc.withOutput(0.5));

// Get Position and Velocity
var position = talonfxs.getPosition();
var velocity = talonfxs.getVelocity();

// Refresh and print these values
System.out.println("Position is " + position.refresh().toString());
System.out.println("Velocity is " + velocity.refresh().toString());

  • Constructor Details

    • CoreTalonFXS

      public CoreTalonFXS(int deviceId, CANBus canbus)
      Constructs a new Talon FXS motor controller object.
      Parameters:
      deviceId - ID of the device, as configured in Phoenix Tuner
      canbus - The CAN bus this device is on

  • Method Details

    • none

      public static CoreTalonFXS none()
      Constructs a stubbed-out CoreTalonFXS, where all status signals, controls, configs, etc. perform no action and immediately return OK. This can be used to silence error messages for devices that have been completely removed from the robot.
      Returns:
      Stubbed-out CoreTalonFXS

    • getConfigurator

      public final TalonFXSConfigurator getConfigurator()
      Gets the configurator for this TalonFXS. Users may use this to refresh and apply configs.
      Returns:
      Configurator for this TalonFXS

    • getSimState

      public final TalonFXSSimState getSimState()
      Get the simulation state for this device.

      This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop.

      Returns:
      Simulation state

    • getVersionMajor

      public final StatusSignal<Integer> getVersionMajor()
      App Major Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersionMajor in interface HasTalonSignals
      Returns:
      VersionMajor Status Signal Object

    • getVersionMajor

      public final StatusSignal<Integer> getVersionMajor(boolean refresh)
      App Major Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersionMajor in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      VersionMajor Status Signal Object

    • getVersionMinor

      public final StatusSignal<Integer> getVersionMinor()
      App Minor Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersionMinor in interface HasTalonSignals
      Returns:
      VersionMinor Status Signal Object

    • getVersionMinor

      public final StatusSignal<Integer> getVersionMinor(boolean refresh)
      App Minor Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersionMinor in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      VersionMinor Status Signal Object

    • getVersionBugfix

      public final StatusSignal<Integer> getVersionBugfix()
      App Bugfix Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersionBugfix in interface HasTalonSignals
      Returns:
      VersionBugfix Status Signal Object

    • getVersionBugfix

      public final StatusSignal<Integer> getVersionBugfix(boolean refresh)
      App Bugfix Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersionBugfix in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      VersionBugfix Status Signal Object

    • getVersionBuild

      public final StatusSignal<Integer> getVersionBuild()
      App Build Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersionBuild in interface HasTalonSignals
      Returns:
      VersionBuild Status Signal Object

    • getVersionBuild

      public final StatusSignal<Integer> getVersionBuild(boolean refresh)
      App Build Version number.
      • Minimum Value: 0
      • Maximum Value: 255
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersionBuild in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      VersionBuild Status Signal Object

    • getVersion

      public final StatusSignal<Integer> getVersion()
      Full Version of firmware in device. The format is a four byte value.
      • Minimum Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersion in interface HasTalonSignals
      Returns:
      Version Status Signal Object

    • getVersion

      public final StatusSignal<Integer> getVersion(boolean refresh)
      Full Version of firmware in device. The format is a four byte value.
      • Minimum Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVersion in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Version Status Signal Object

    • getFaultField

      public final StatusSignal<Integer> getFaultField()
      Integer representing all fault flags reported by the device.

      These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead.

      • Minimum Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFaultField in interface HasTalonSignals
      Returns:
      FaultField Status Signal Object

    • getFaultField

      public final StatusSignal<Integer> getFaultField(boolean refresh)
      Integer representing all fault flags reported by the device.

      These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead.

      • Minimum Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFaultField in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      FaultField Status Signal Object

    • getStickyFaultField

      public final StatusSignal<Integer> getStickyFaultField()
      Integer representing all (persistent) sticky fault flags reported by the device.

      These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead.

      • Minimum Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFaultField in interface HasTalonSignals
      Returns:
      StickyFaultField Status Signal Object

    • getStickyFaultField

      public final StatusSignal<Integer> getStickyFaultField(boolean refresh)
      Integer representing all (persistent) sticky fault flags reported by the device.

      These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead.

      • Minimum Value: 0
      • Maximum Value: 4294967295
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFaultField in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFaultField Status Signal Object

    • getMotorVoltage

      public final StatusSignal<Voltage> getMotorVoltage()
      The applied (output) motor voltage.
      • Minimum Value: -40.96
      • Maximum Value: 40.95
      • Default Value: 0
      • Units: V
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorVoltage in interface HasTalonSignals
      Returns:
      MotorVoltage Status Signal Object

    • getMotorVoltage

      public final StatusSignal<Voltage> getMotorVoltage(boolean refresh)
      The applied (output) motor voltage.
      • Minimum Value: -40.96
      • Maximum Value: 40.95
      • Default Value: 0
      • Units: V
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorVoltage in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MotorVoltage Status Signal Object

    • getForwardLimit

      public final StatusSignal<ForwardLimitValue> getForwardLimit()
      Forward Limit Pin. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getForwardLimit in interface HasTalonSignals
      Returns:
      ForwardLimit Status Signal Object

    • getForwardLimit

      public final StatusSignal<ForwardLimitValue> getForwardLimit(boolean refresh)
      Forward Limit Pin. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getForwardLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ForwardLimit Status Signal Object

    • getReverseLimit

      public final StatusSignal<ReverseLimitValue> getReverseLimit()
      Reverse Limit Pin. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getReverseLimit in interface HasTalonSignals
      Returns:
      ReverseLimit Status Signal Object

    • getReverseLimit

      public final StatusSignal<ReverseLimitValue> getReverseLimit(boolean refresh)
      Reverse Limit Pin. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getReverseLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ReverseLimit Status Signal Object

    • getAppliedRotorPolarity

      public final StatusSignal<AppliedRotorPolarityValue> getAppliedRotorPolarity()
      The applied rotor polarity as seen from the front of the motor. This typically is determined by the Inverted config, but can be overridden if using Follower features. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getAppliedRotorPolarity in interface HasTalonSignals
      Returns:
      AppliedRotorPolarity Status Signal Object

    • getAppliedRotorPolarity

      public final StatusSignal<AppliedRotorPolarityValue> getAppliedRotorPolarity(boolean refresh)
      The applied rotor polarity as seen from the front of the motor. This typically is determined by the Inverted config, but can be overridden if using Follower features. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getAppliedRotorPolarity in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AppliedRotorPolarity Status Signal Object

    • getDutyCycle

      public final StatusSignal<Double> getDutyCycle()
      The applied motor duty cycle.
      • Minimum Value: -2.0
      • Maximum Value: 1.9990234375
      • Default Value: 0
      • Units: fractional
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDutyCycle in interface HasTalonSignals
      Returns:
      DutyCycle Status Signal Object

    • getDutyCycle

      public final StatusSignal<Double> getDutyCycle(boolean refresh)
      The applied motor duty cycle.
      • Minimum Value: -2.0
      • Maximum Value: 1.9990234375
      • Default Value: 0
      • Units: fractional
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDutyCycle in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DutyCycle Status Signal Object

    • getTorqueCurrent

      public final StatusSignal<Current> getTorqueCurrent()
      Current corresponding to the torque output by the motor. Similar to StatorCurrent. Users will likely prefer this current to calculate the applied torque to the rotor.

      Stator current where positive current means torque is applied in the forward direction as determined by the Inverted setting.

      • Minimum Value: -327.68
      • Maximum Value: 327.67
      • Default Value: 0
      • Units: A
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getTorqueCurrent in interface HasTalonSignals
      Returns:
      TorqueCurrent Status Signal Object

    • getTorqueCurrent

      public final StatusSignal<Current> getTorqueCurrent(boolean refresh)
      Current corresponding to the torque output by the motor. Similar to StatorCurrent. Users will likely prefer this current to calculate the applied torque to the rotor.

      Stator current where positive current means torque is applied in the forward direction as determined by the Inverted setting.

      • Minimum Value: -327.68
      • Maximum Value: 327.67
      • Default Value: 0
      • Units: A
      Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getTorqueCurrent in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      TorqueCurrent Status Signal Object

    • getStatorCurrent

      public final StatusSignal<Current> getStatorCurrent()
      Current corresponding to the stator windings. Similar to TorqueCurrent. Users will likely prefer TorqueCurrent over StatorCurrent.

      Stator current where Positive current indicates motoring regardless of direction. Negative current indicates regenerative braking regardless of direction.

      • Minimum Value: -327.68
      • Maximum Value: 327.66
      • Default Value: 0
      • Units: A
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStatorCurrent in interface HasTalonSignals
      Returns:
      StatorCurrent Status Signal Object

    • getStatorCurrent

      public final StatusSignal<Current> getStatorCurrent(boolean refresh)
      Current corresponding to the stator windings. Similar to TorqueCurrent. Users will likely prefer TorqueCurrent over StatorCurrent.

      Stator current where Positive current indicates motoring regardless of direction. Negative current indicates regenerative braking regardless of direction.

      • Minimum Value: -327.68
      • Maximum Value: 327.66
      • Default Value: 0
      • Units: A
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStatorCurrent in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StatorCurrent Status Signal Object

    • getSupplyCurrent

      public final StatusSignal<Current> getSupplyCurrent()
      Measured supply side current.
      • Minimum Value: -327.68
      • Maximum Value: 327.66
      • Default Value: 0
      • Units: A
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getSupplyCurrent in interface HasTalonSignals
      Returns:
      SupplyCurrent Status Signal Object

    • getSupplyCurrent

      public final StatusSignal<Current> getSupplyCurrent(boolean refresh)
      Measured supply side current.
      • Minimum Value: -327.68
      • Maximum Value: 327.66
      • Default Value: 0
      • Units: A
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getSupplyCurrent in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      SupplyCurrent Status Signal Object

    • getSupplyVoltage

      public final StatusSignal<Voltage> getSupplyVoltage()
      Measured supply voltage to the device.
      • Minimum Value: 4
      • Maximum Value: 29.575
      • Default Value: 4
      • Units: V
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getSupplyVoltage in interface HasTalonSignals
      Returns:
      SupplyVoltage Status Signal Object

    • getSupplyVoltage

      public final StatusSignal<Voltage> getSupplyVoltage(boolean refresh)
      Measured supply voltage to the device.
      • Minimum Value: 4
      • Maximum Value: 29.575
      • Default Value: 4
      • Units: V
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getSupplyVoltage in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      SupplyVoltage Status Signal Object

    • getDeviceTemp

      public final StatusSignal<Temperature> getDeviceTemp()
      Temperature of device.

      This is the temperature that the device measures itself to be at. Similar to Processor Temperature.

      • Minimum Value: 0.0
      • Maximum Value: 255.0
      • Default Value: 0
      • Units: ℃
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDeviceTemp in interface HasTalonSignals
      Returns:
      DeviceTemp Status Signal Object

    • getDeviceTemp

      public final StatusSignal<Temperature> getDeviceTemp(boolean refresh)
      Temperature of device.

      This is the temperature that the device measures itself to be at. Similar to Processor Temperature.

      • Minimum Value: 0.0
      • Maximum Value: 255.0
      • Default Value: 0
      • Units: ℃
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDeviceTemp in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DeviceTemp Status Signal Object

    • getProcessorTemp

      public final StatusSignal<Temperature> getProcessorTemp()
      Temperature of the processor.

      This is the temperature that the processor measures itself to be at. Similar to Device Temperature.

      • Minimum Value: 0.0
      • Maximum Value: 255.0
      • Default Value: 0
      • Units: ℃
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getProcessorTemp in interface HasTalonSignals
      Returns:
      ProcessorTemp Status Signal Object

    • getProcessorTemp

      public final StatusSignal<Temperature> getProcessorTemp(boolean refresh)
      Temperature of the processor.

      This is the temperature that the processor measures itself to be at. Similar to Device Temperature.

      • Minimum Value: 0.0
      • Maximum Value: 255.0
      • Default Value: 0
      • Units: ℃
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getProcessorTemp in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ProcessorTemp Status Signal Object

    • getRotorVelocity

      public final StatusSignal<AngularVelocity> getRotorVelocity()
      Velocity of the motor rotor. This velocity is not affected by any feedback configs.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRotorVelocity in interface HasTalonSignals
      Returns:
      RotorVelocity Status Signal Object

    • getRotorVelocity

      public final StatusSignal<AngularVelocity> getRotorVelocity(boolean refresh)
      Velocity of the motor rotor. This velocity is not affected by any feedback configs.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRotorVelocity in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RotorVelocity Status Signal Object

    • getRotorPosition

      public final StatusSignal<Angle> getRotorPosition()
      Position of the motor rotor. This position is only affected by the RotorOffset config and calls to setPosition.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRotorPosition in interface HasTalonSignals
      Returns:
      RotorPosition Status Signal Object

    • getRotorPosition

      public final StatusSignal<Angle> getRotorPosition(boolean refresh)
      Position of the motor rotor. This position is only affected by the RotorOffset config and calls to setPosition.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRotorPosition in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RotorPosition Status Signal Object

    • getVelocity

      public final StatusSignal<AngularVelocity> getVelocity()
      Velocity of the device in mechanism rotations per second. This can be the velocity of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN 2.0: 50.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVelocity in interface HasTalonSignals
      Returns:
      Velocity Status Signal Object

    • getVelocity

      public final StatusSignal<AngularVelocity> getVelocity(boolean refresh)
      Velocity of the device in mechanism rotations per second. This can be the velocity of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN 2.0: 50.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getVelocity in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Velocity Status Signal Object

    • getPosition

      public final StatusSignal<Angle> getPosition()
      Position of the device in mechanism rotations. This can be the position of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs, as well as calls to setPosition.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN 2.0: 50.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getPosition in interface HasTalonSignals
      Returns:
      Position Status Signal Object

    • getPosition

      public final StatusSignal<Angle> getPosition(boolean refresh)
      Position of the device in mechanism rotations. This can be the position of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs, as well as calls to setPosition.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN 2.0: 50.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getPosition in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Position Status Signal Object

    • getAcceleration

      public final StatusSignal<AngularAcceleration> getAcceleration()
      Acceleration of the device in mechanism rotations per second². This can be the acceleration of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs.
      • Minimum Value: -2048.0
      • Maximum Value: 2047.75
      • Default Value: 0
      • Units: rotations per second²
      Default Rates:
      • CAN 2.0: 50.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getAcceleration in interface HasTalonSignals
      Returns:
      Acceleration Status Signal Object

    • getAcceleration

      public final StatusSignal<AngularAcceleration> getAcceleration(boolean refresh)
      Acceleration of the device in mechanism rotations per second². This can be the acceleration of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs.
      • Minimum Value: -2048.0
      • Maximum Value: 2047.75
      • Default Value: 0
      • Units: rotations per second²
      Default Rates:
      • CAN 2.0: 50.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getAcceleration in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Acceleration Status Signal Object

    • getControlMode

      public final StatusSignal<ControlModeValue> getControlMode()
      The active control mode of the motor controller. Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getControlMode in interface HasTalonSignals
      Returns:
      ControlMode Status Signal Object

    • getControlMode

      public final StatusSignal<ControlModeValue> getControlMode(boolean refresh)
      The active control mode of the motor controller. Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getControlMode in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ControlMode Status Signal Object

    • getExternalMotorTempStatus

      public final StatusSignal<ExternalMotorTempStatusValue> getExternalMotorTempStatus()
      Status of the temperature sensor of the external motor. Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getExternalMotorTempStatus in interface HasExternalMotor
      Returns:
      ExternalMotorTempStatus Status Signal Object

    • getExternalMotorTempStatus

      public final StatusSignal<ExternalMotorTempStatusValue> getExternalMotorTempStatus(boolean refresh)
      Status of the temperature sensor of the external motor. Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getExternalMotorTempStatus in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ExternalMotorTempStatus Status Signal Object

    • getExternalMotorTemp

      public final StatusSignal<Temperature> getExternalMotorTemp()
      Temperature of the external motor.
      • Minimum Value: 0.0
      • Maximum Value: 255.0
      • Default Value: 0
      • Units: ℃
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getExternalMotorTemp in interface HasExternalMotor
      Returns:
      ExternalMotorTemp Status Signal Object

    • getExternalMotorTemp

      public final StatusSignal<Temperature> getExternalMotorTemp(boolean refresh)
      Temperature of the external motor.
      • Minimum Value: 0.0
      • Maximum Value: 255.0
      • Default Value: 0
      • Units: ℃
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getExternalMotorTemp in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ExternalMotorTemp Status Signal Object

    • getMotionMagicAtTarget

      public final StatusSignal<Boolean> getMotionMagicAtTarget()
      Check if the Motion Magic® profile has reached the target. This is equivalent to checking that MotionMagicIsRunning, the ClosedLoopReference is the target, and the ClosedLoopReferenceSlope is 0.
      • Default Value: False
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotionMagicAtTarget in interface HasTalonSignals
      Returns:
      MotionMagicAtTarget Status Signal Object

    • getMotionMagicAtTarget

      public final StatusSignal<Boolean> getMotionMagicAtTarget(boolean refresh)
      Check if the Motion Magic® profile has reached the target. This is equivalent to checking that MotionMagicIsRunning, the ClosedLoopReference is the target, and the ClosedLoopReferenceSlope is 0.
      • Default Value: False
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotionMagicAtTarget in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MotionMagicAtTarget Status Signal Object

    • getMotionMagicIsRunning

      public final StatusSignal<Boolean> getMotionMagicIsRunning()
      Check if Motion Magic® is running. This is equivalent to checking that the reported control mode is a Motion Magic® based mode.
      • Default Value: False
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotionMagicIsRunning in interface HasTalonSignals
      Returns:
      MotionMagicIsRunning Status Signal Object

    • getMotionMagicIsRunning

      public final StatusSignal<Boolean> getMotionMagicIsRunning(boolean refresh)
      Check if Motion Magic® is running. This is equivalent to checking that the reported control mode is a Motion Magic® based mode.
      • Default Value: False
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotionMagicIsRunning in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MotionMagicIsRunning Status Signal Object

    • getRobotEnable

      public final StatusSignal<RobotEnableValue> getRobotEnable()
      Indicates if the robot is enabled. Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRobotEnable in interface HasTalonSignals
      Returns:
      RobotEnable Status Signal Object

    • getRobotEnable

      public final StatusSignal<RobotEnableValue> getRobotEnable(boolean refresh)
      Indicates if the robot is enabled. Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRobotEnable in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RobotEnable Status Signal Object

    • getDeviceEnable

      public final StatusSignal<DeviceEnableValue> getDeviceEnable()
      Indicates if device is actuator enabled. Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDeviceEnable in interface HasTalonSignals
      Returns:
      DeviceEnable Status Signal Object

    • getDeviceEnable

      public final StatusSignal<DeviceEnableValue> getDeviceEnable(boolean refresh)
      Indicates if device is actuator enabled. Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDeviceEnable in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DeviceEnable Status Signal Object

    • getClosedLoopSlot

      public final StatusSignal<Integer> getClosedLoopSlot()
      The slot that the closed-loop PID is using.
      • Minimum Value: 0
      • Maximum Value: 2
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopSlot in interface HasTalonSignals
      Returns:
      ClosedLoopSlot Status Signal Object

    • getClosedLoopSlot

      public final StatusSignal<Integer> getClosedLoopSlot(boolean refresh)
      The slot that the closed-loop PID is using.
      • Minimum Value: 0
      • Maximum Value: 2
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopSlot in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopSlot Status Signal Object

    • getMotorOutputStatus

      public final StatusSignal<MotorOutputStatusValue> getMotorOutputStatus()
      Assess the status of the motor output with respect to load and supply.

      This routine can be used to determine the general status of motor commutation.

      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorOutputStatus in interface HasTalonSignals
      Returns:
      MotorOutputStatus Status Signal Object

    • getMotorOutputStatus

      public final StatusSignal<MotorOutputStatusValue> getMotorOutputStatus(boolean refresh)
      Assess the status of the motor output with respect to load and supply.

      This routine can be used to determine the general status of motor commutation.

      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorOutputStatus in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MotorOutputStatus Status Signal Object

    • getDifferentialControlMode

      public final StatusSignal<DifferentialControlModeValue> getDifferentialControlMode()
      The active control mode of the differential controller. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialControlMode in interface HasTalonSignals
      Returns:
      DifferentialControlMode Status Signal Object

    • getDifferentialControlMode

      public final StatusSignal<DifferentialControlModeValue> getDifferentialControlMode(boolean refresh)
      The active control mode of the differential controller. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialControlMode in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialControlMode Status Signal Object

    • getDifferentialAverageVelocity

      public final StatusSignal<AngularVelocity> getDifferentialAverageVelocity()
      Average component of the differential velocity of device.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialAverageVelocity in interface HasTalonSignals
      Returns:
      DifferentialAverageVelocity Status Signal Object

    • getDifferentialAverageVelocity

      public final StatusSignal<AngularVelocity> getDifferentialAverageVelocity(boolean refresh)
      Average component of the differential velocity of device.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialAverageVelocity in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialAverageVelocity Status Signal Object

    • getDifferentialAveragePosition

      public final StatusSignal<Angle> getDifferentialAveragePosition()
      Average component of the differential position of device.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialAveragePosition in interface HasTalonSignals
      Returns:
      DifferentialAveragePosition Status Signal Object

    • getDifferentialAveragePosition

      public final StatusSignal<Angle> getDifferentialAveragePosition(boolean refresh)
      Average component of the differential position of device.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialAveragePosition in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialAveragePosition Status Signal Object

    • getDifferentialDifferenceVelocity

      public final StatusSignal<AngularVelocity> getDifferentialDifferenceVelocity()
      Difference component of the differential velocity of device.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialDifferenceVelocity in interface HasTalonSignals
      Returns:
      DifferentialDifferenceVelocity Status Signal Object

    • getDifferentialDifferenceVelocity

      public final StatusSignal<AngularVelocity> getDifferentialDifferenceVelocity(boolean refresh)
      Difference component of the differential velocity of device.
      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialDifferenceVelocity in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialDifferenceVelocity Status Signal Object

    • getDifferentialDifferencePosition

      public final StatusSignal<Angle> getDifferentialDifferencePosition()
      Difference component of the differential position of device.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialDifferencePosition in interface HasTalonSignals
      Returns:
      DifferentialDifferencePosition Status Signal Object

    • getDifferentialDifferencePosition

      public final StatusSignal<Angle> getDifferentialDifferencePosition(boolean refresh)
      Difference component of the differential position of device.
      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialDifferencePosition in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialDifferencePosition Status Signal Object

    • getDifferentialClosedLoopSlot

      public final StatusSignal<Integer> getDifferentialClosedLoopSlot()
      The slot that the closed-loop differential PID is using.
      • Minimum Value: 0
      • Maximum Value: 2
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopSlot in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopSlot Status Signal Object

    • getDifferentialClosedLoopSlot

      public final StatusSignal<Integer> getDifferentialClosedLoopSlot(boolean refresh)
      The slot that the closed-loop differential PID is using.
      • Minimum Value: 0
      • Maximum Value: 2
      • Default Value: 0
      • Units:
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopSlot in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopSlot Status Signal Object

    • getMotorKT

      public final StatusSignal<Per<TorqueUnit, CurrentUnit>> getMotorKT()
      The torque constant (K_T) of the motor.
      • Minimum Value: 0.0
      • Maximum Value: 0.025500000000000002
      • Default Value: 0
      • Units: Nm/A
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorKT in interface HasTalonSignals
      Returns:
      MotorKT Status Signal Object

    • getMotorKT

      public final StatusSignal<Per<TorqueUnit, CurrentUnit>> getMotorKT(boolean refresh)
      The torque constant (K_T) of the motor.
      • Minimum Value: 0.0
      • Maximum Value: 0.025500000000000002
      • Default Value: 0
      • Units: Nm/A
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorKT in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MotorKT Status Signal Object

    • getMotorKV

      public final StatusSignal<Per<AngularVelocityUnit, VoltageUnit>> getMotorKV()
      The velocity constant (K_V) of the motor.
      • Minimum Value: 0.0
      • Maximum Value: 2047.0
      • Default Value: 0
      • Units: RPM/V
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorKV in interface HasTalonSignals
      Returns:
      MotorKV Status Signal Object

    • getMotorKV

      public final StatusSignal<Per<AngularVelocityUnit, VoltageUnit>> getMotorKV(boolean refresh)
      The velocity constant (K_V) of the motor.
      • Minimum Value: 0.0
      • Maximum Value: 2047.0
      • Default Value: 0
      • Units: RPM/V
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorKV in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MotorKV Status Signal Object

    • getMotorStallCurrent

      public final StatusSignal<Current> getMotorStallCurrent()
      The stall current of the motor at 12 V output.
      • Minimum Value: 0.0
      • Maximum Value: 1023.0
      • Default Value: 0
      • Units: A
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorStallCurrent in interface HasTalonSignals
      Returns:
      MotorStallCurrent Status Signal Object

    • getMotorStallCurrent

      public final StatusSignal<Current> getMotorStallCurrent(boolean refresh)
      The stall current of the motor at 12 V output.
      • Minimum Value: 0.0
      • Maximum Value: 1023.0
      • Default Value: 0
      • Units: A
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getMotorStallCurrent in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MotorStallCurrent Status Signal Object

    • getBridgeOutput

      public final StatusSignal<BridgeOutputValue> getBridgeOutput()
      The applied output of the bridge. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getBridgeOutput in interface HasTalonSignals
      Returns:
      BridgeOutput Status Signal Object

    • getBridgeOutput

      public final StatusSignal<BridgeOutputValue> getBridgeOutput(boolean refresh)
      The applied output of the bridge. Default Rates:
      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getBridgeOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      BridgeOutput Status Signal Object

    • getIsProLicensed

      public final StatusSignal<Boolean> getIsProLicensed()
      Whether the device is Phoenix Pro licensed.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getIsProLicensed in interface HasTalonSignals
      Returns:
      IsProLicensed Status Signal Object

    • getIsProLicensed

      public final StatusSignal<Boolean> getIsProLicensed(boolean refresh)
      Whether the device is Phoenix Pro licensed.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getIsProLicensed in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      IsProLicensed Status Signal Object

    • getAncillaryDeviceTemp

      public final StatusSignal<Temperature> getAncillaryDeviceTemp()
      Temperature of device from second sensor.

      Newer versions of Talon have multiple temperature measurement methods.

      • Minimum Value: 0.0
      • Maximum Value: 255.0
      • Default Value: 0
      • Units: ℃
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getAncillaryDeviceTemp in interface HasTalonSignals
      Returns:
      AncillaryDeviceTemp Status Signal Object

    • getAncillaryDeviceTemp

      public final StatusSignal<Temperature> getAncillaryDeviceTemp(boolean refresh)
      Temperature of device from second sensor.

      Newer versions of Talon have multiple temperature measurement methods.

      • Minimum Value: 0.0
      • Maximum Value: 255.0
      • Default Value: 0
      • Units: ℃
      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getAncillaryDeviceTemp in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AncillaryDeviceTemp Status Signal Object

    • getConnectedMotor

      public final StatusSignal<ConnectedMotorValue> getConnectedMotor()
      The type of motor attached to the Talon.

      This can be used to determine what motor is attached to the Talon FX. Return will be "Unknown" if firmware is too old or device is not present.

      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getConnectedMotor in interface HasTalonSignals
      Returns:
      ConnectedMotor Status Signal Object

    • getConnectedMotor

      public final StatusSignal<ConnectedMotorValue> getConnectedMotor(boolean refresh)
      The type of motor attached to the Talon.

      This can be used to determine what motor is attached to the Talon FX. Return will be "Unknown" if firmware is too old or device is not present.

      Default Rates:
      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getConnectedMotor in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ConnectedMotor Status Signal Object

    • getFiveVRailVoltage

      public final StatusSignal<Voltage> getFiveVRailVoltage()
      The measured voltage of the 5V rail available on the JST and dataport connectors.
      • Minimum Value: 0.0
      • Maximum Value: 40.95
      • Default Value: 0
      • Units: Volts
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFiveVRailVoltage in interface HasExternalMotor
      Returns:
      FiveVRailVoltage Status Signal Object

    • getFiveVRailVoltage

      public final StatusSignal<Voltage> getFiveVRailVoltage(boolean refresh)
      The measured voltage of the 5V rail available on the JST and dataport connectors.
      • Minimum Value: 0.0
      • Maximum Value: 40.95
      • Default Value: 0
      • Units: Volts
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFiveVRailVoltage in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      FiveVRailVoltage Status Signal Object

    • getAnalogVoltage

      public final StatusSignal<Voltage> getAnalogVoltage()
      The voltage of the analog pin (pin 3) of the Talon FXS data port. The analog pin reads a nominal voltage of 0-5V.
      • Minimum Value: 0
      • Maximum Value: 6
      • Default Value: 0
      • Units: Volts
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getAnalogVoltage in interface HasExternalMotor
      Returns:
      AnalogVoltage Status Signal Object

    • getAnalogVoltage

      public final StatusSignal<Voltage> getAnalogVoltage(boolean refresh)
      The voltage of the analog pin (pin 3) of the Talon FXS data port. The analog pin reads a nominal voltage of 0-5V.
      • Minimum Value: 0
      • Maximum Value: 6
      • Default Value: 0
      • Units: Volts
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getAnalogVoltage in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AnalogVoltage Status Signal Object

    • getRawQuadraturePosition

      public final StatusSignal<Angle> getRawQuadraturePosition()
      The raw position retrieved from the connected quadrature encoder. This is only affected by the QuadratureEdgesPerRotation config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular position getter.

      This signal must have its update frequency configured before it will have data.

      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN: 0.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRawQuadraturePosition in interface HasExternalMotor
      Returns:
      RawQuadraturePosition Status Signal Object

    • getRawQuadraturePosition

      public final StatusSignal<Angle> getRawQuadraturePosition(boolean refresh)
      The raw position retrieved from the connected quadrature encoder. This is only affected by the QuadratureEdgesPerRotation config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular position getter.

      This signal must have its update frequency configured before it will have data.

      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN: 0.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRawQuadraturePosition in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RawQuadraturePosition Status Signal Object

    • getRawQuadratureVelocity

      public final StatusSignal<AngularVelocity> getRawQuadratureVelocity()
      The raw velocity retrieved from the connected quadrature encoder. This is only affected by the QuadratureEdgesPerRotation config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular velocity getter.

      This signal must have its update frequency configured before it will have data.

      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN: 0.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRawQuadratureVelocity in interface HasExternalMotor
      Returns:
      RawQuadratureVelocity Status Signal Object

    • getRawQuadratureVelocity

      public final StatusSignal<AngularVelocity> getRawQuadratureVelocity(boolean refresh)
      The raw velocity retrieved from the connected quadrature encoder. This is only affected by the QuadratureEdgesPerRotation config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular velocity getter.

      This signal must have its update frequency configured before it will have data.

      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN: 0.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRawQuadratureVelocity in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RawQuadratureVelocity Status Signal Object

    • getRawPulseWidthPosition

      public final StatusSignal<Angle> getRawPulseWidthPosition()
      The raw position retrieved from the connected pulse-width encoder. This is not affected by any config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular position getter.

      This signal must have its update frequency configured before it will have data.

      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN: 0.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRawPulseWidthPosition in interface HasExternalMotor
      Returns:
      RawPulseWidthPosition Status Signal Object

    • getRawPulseWidthPosition

      public final StatusSignal<Angle> getRawPulseWidthPosition(boolean refresh)
      The raw position retrieved from the connected pulse-width encoder. This is not affected by any config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular position getter.

      This signal must have its update frequency configured before it will have data.

      • Minimum Value: -16384.0
      • Maximum Value: 16383.999755859375
      • Default Value: 0
      • Units: rotations
      Default Rates:
      • CAN: 0.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRawPulseWidthPosition in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RawPulseWidthPosition Status Signal Object

    • getRawPulseWidthVelocity

      public final StatusSignal<AngularVelocity> getRawPulseWidthVelocity()
      The raw velocity retrieved from the connected pulse-width encoder. This is not affected by any config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular velocity getter.

      This signal must have its update frequency configured before it will have data.

      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN: 0.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRawPulseWidthVelocity in interface HasExternalMotor
      Returns:
      RawPulseWidthVelocity Status Signal Object

    • getRawPulseWidthVelocity

      public final StatusSignal<AngularVelocity> getRawPulseWidthVelocity(boolean refresh)
      The raw velocity retrieved from the connected pulse-width encoder. This is not affected by any config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular velocity getter.

      This signal must have its update frequency configured before it will have data.

      • Minimum Value: -512.0
      • Maximum Value: 511.998046875
      • Default Value: 0
      • Units: rotations per second
      Default Rates:
      • CAN: 0.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getRawPulseWidthVelocity in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RawPulseWidthVelocity Status Signal Object

    • getFault_Hardware

      public final StatusSignal<Boolean> getFault_Hardware()
      Hardware fault occurred
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_Hardware in interface HasTalonSignals
      Returns:
      Fault_Hardware Status Signal Object

    • getFault_Hardware

      public final StatusSignal<Boolean> getFault_Hardware(boolean refresh)
      Hardware fault occurred
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_Hardware in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_Hardware Status Signal Object

    • getStickyFault_Hardware

      public final StatusSignal<Boolean> getStickyFault_Hardware()
      Hardware fault occurred
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_Hardware in interface HasTalonSignals
      Returns:
      StickyFault_Hardware Status Signal Object

    • getStickyFault_Hardware

      public final StatusSignal<Boolean> getStickyFault_Hardware(boolean refresh)
      Hardware fault occurred
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_Hardware in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_Hardware Status Signal Object

    • getFault_ProcTemp

      public final StatusSignal<Boolean> getFault_ProcTemp()
      Processor temperature exceeded limit
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ProcTemp in interface HasTalonSignals
      Returns:
      Fault_ProcTemp Status Signal Object

    • getFault_ProcTemp

      public final StatusSignal<Boolean> getFault_ProcTemp(boolean refresh)
      Processor temperature exceeded limit
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ProcTemp in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_ProcTemp Status Signal Object

    • getStickyFault_ProcTemp

      public final StatusSignal<Boolean> getStickyFault_ProcTemp()
      Processor temperature exceeded limit
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ProcTemp in interface HasTalonSignals
      Returns:
      StickyFault_ProcTemp Status Signal Object

    • getStickyFault_ProcTemp

      public final StatusSignal<Boolean> getStickyFault_ProcTemp(boolean refresh)
      Processor temperature exceeded limit
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ProcTemp in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_ProcTemp Status Signal Object

    • getFault_DeviceTemp

      public final StatusSignal<Boolean> getFault_DeviceTemp()
      Device temperature exceeded limit
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_DeviceTemp in interface HasTalonSignals
      Returns:
      Fault_DeviceTemp Status Signal Object

    • getFault_DeviceTemp

      public final StatusSignal<Boolean> getFault_DeviceTemp(boolean refresh)
      Device temperature exceeded limit
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_DeviceTemp in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_DeviceTemp Status Signal Object

    • getStickyFault_DeviceTemp

      public final StatusSignal<Boolean> getStickyFault_DeviceTemp()
      Device temperature exceeded limit
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_DeviceTemp in interface HasTalonSignals
      Returns:
      StickyFault_DeviceTemp Status Signal Object

    • getStickyFault_DeviceTemp

      public final StatusSignal<Boolean> getStickyFault_DeviceTemp(boolean refresh)
      Device temperature exceeded limit
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_DeviceTemp in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_DeviceTemp Status Signal Object

    • getFault_Undervoltage

      public final StatusSignal<Boolean> getFault_Undervoltage()
      Device supply voltage dropped to near brownout levels
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_Undervoltage in interface HasTalonSignals
      Returns:
      Fault_Undervoltage Status Signal Object

    • getFault_Undervoltage

      public final StatusSignal<Boolean> getFault_Undervoltage(boolean refresh)
      Device supply voltage dropped to near brownout levels
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_Undervoltage in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_Undervoltage Status Signal Object

    • getStickyFault_Undervoltage

      public final StatusSignal<Boolean> getStickyFault_Undervoltage()
      Device supply voltage dropped to near brownout levels
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_Undervoltage in interface HasTalonSignals
      Returns:
      StickyFault_Undervoltage Status Signal Object

    • getStickyFault_Undervoltage

      public final StatusSignal<Boolean> getStickyFault_Undervoltage(boolean refresh)
      Device supply voltage dropped to near brownout levels
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_Undervoltage in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_Undervoltage Status Signal Object

    • getFault_BootDuringEnable

      public final StatusSignal<Boolean> getFault_BootDuringEnable()
      Device boot while detecting the enable signal
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_BootDuringEnable in interface HasTalonSignals
      Returns:
      Fault_BootDuringEnable Status Signal Object

    • getFault_BootDuringEnable

      public final StatusSignal<Boolean> getFault_BootDuringEnable(boolean refresh)
      Device boot while detecting the enable signal
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_BootDuringEnable in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_BootDuringEnable Status Signal Object

    • getStickyFault_BootDuringEnable

      public final StatusSignal<Boolean> getStickyFault_BootDuringEnable()
      Device boot while detecting the enable signal
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_BootDuringEnable in interface HasTalonSignals
      Returns:
      StickyFault_BootDuringEnable Status Signal Object

    • getStickyFault_BootDuringEnable

      public final StatusSignal<Boolean> getStickyFault_BootDuringEnable(boolean refresh)
      Device boot while detecting the enable signal
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_BootDuringEnable in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_BootDuringEnable Status Signal Object

    • getFault_UnlicensedFeatureInUse

      public final StatusSignal<Boolean> getFault_UnlicensedFeatureInUse()
      An unlicensed feature is in use, device may not behave as expected.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_UnlicensedFeatureInUse in interface HasTalonSignals
      Returns:
      Fault_UnlicensedFeatureInUse Status Signal Object

    • getFault_UnlicensedFeatureInUse

      public final StatusSignal<Boolean> getFault_UnlicensedFeatureInUse(boolean refresh)
      An unlicensed feature is in use, device may not behave as expected.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_UnlicensedFeatureInUse in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_UnlicensedFeatureInUse Status Signal Object

    • getStickyFault_UnlicensedFeatureInUse

      public final StatusSignal<Boolean> getStickyFault_UnlicensedFeatureInUse()
      An unlicensed feature is in use, device may not behave as expected.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_UnlicensedFeatureInUse in interface HasTalonSignals
      Returns:
      StickyFault_UnlicensedFeatureInUse Status Signal Object

    • getStickyFault_UnlicensedFeatureInUse

      public final StatusSignal<Boolean> getStickyFault_UnlicensedFeatureInUse(boolean refresh)
      An unlicensed feature is in use, device may not behave as expected.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_UnlicensedFeatureInUse in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_UnlicensedFeatureInUse Status Signal Object

    • getFault_BridgeBrownout

      public final StatusSignal<Boolean> getFault_BridgeBrownout()
      Bridge was disabled most likely due to supply voltage dropping too low.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_BridgeBrownout in interface HasTalonSignals
      Returns:
      Fault_BridgeBrownout Status Signal Object

    • getFault_BridgeBrownout

      public final StatusSignal<Boolean> getFault_BridgeBrownout(boolean refresh)
      Bridge was disabled most likely due to supply voltage dropping too low.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_BridgeBrownout in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_BridgeBrownout Status Signal Object

    • getStickyFault_BridgeBrownout

      public final StatusSignal<Boolean> getStickyFault_BridgeBrownout()
      Bridge was disabled most likely due to supply voltage dropping too low.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_BridgeBrownout in interface HasTalonSignals
      Returns:
      StickyFault_BridgeBrownout Status Signal Object

    • getStickyFault_BridgeBrownout

      public final StatusSignal<Boolean> getStickyFault_BridgeBrownout(boolean refresh)
      Bridge was disabled most likely due to supply voltage dropping too low.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_BridgeBrownout in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_BridgeBrownout Status Signal Object

    • getFault_RemoteSensorReset

      public final StatusSignal<Boolean> getFault_RemoteSensorReset()
      The remote sensor has reset.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_RemoteSensorReset in interface HasTalonSignals
      Returns:
      Fault_RemoteSensorReset Status Signal Object

    • getFault_RemoteSensorReset

      public final StatusSignal<Boolean> getFault_RemoteSensorReset(boolean refresh)
      The remote sensor has reset.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_RemoteSensorReset in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_RemoteSensorReset Status Signal Object

    • getStickyFault_RemoteSensorReset

      public final StatusSignal<Boolean> getStickyFault_RemoteSensorReset()
      The remote sensor has reset.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_RemoteSensorReset in interface HasTalonSignals
      Returns:
      StickyFault_RemoteSensorReset Status Signal Object

    • getStickyFault_RemoteSensorReset

      public final StatusSignal<Boolean> getStickyFault_RemoteSensorReset(boolean refresh)
      The remote sensor has reset.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_RemoteSensorReset in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_RemoteSensorReset Status Signal Object

    • getFault_MissingDifferentialFX

      public final StatusSignal<Boolean> getFault_MissingDifferentialFX()
      The remote Talon used for differential control is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MissingDifferentialFX in interface HasTalonSignals
      Returns:
      Fault_MissingDifferentialFX Status Signal Object

    • getFault_MissingDifferentialFX

      public final StatusSignal<Boolean> getFault_MissingDifferentialFX(boolean refresh)
      The remote Talon used for differential control is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MissingDifferentialFX in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_MissingDifferentialFX Status Signal Object

    • getStickyFault_MissingDifferentialFX

      public final StatusSignal<Boolean> getStickyFault_MissingDifferentialFX()
      The remote Talon used for differential control is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MissingDifferentialFX in interface HasTalonSignals
      Returns:
      StickyFault_MissingDifferentialFX Status Signal Object

    • getStickyFault_MissingDifferentialFX

      public final StatusSignal<Boolean> getStickyFault_MissingDifferentialFX(boolean refresh)
      The remote Talon used for differential control is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MissingDifferentialFX in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_MissingDifferentialFX Status Signal Object

    • getFault_RemoteSensorPosOverflow

      public final StatusSignal<Boolean> getFault_RemoteSensorPosOverflow()
      The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_RemoteSensorPosOverflow in interface HasTalonSignals
      Returns:
      Fault_RemoteSensorPosOverflow Status Signal Object

    • getFault_RemoteSensorPosOverflow

      public final StatusSignal<Boolean> getFault_RemoteSensorPosOverflow(boolean refresh)
      The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_RemoteSensorPosOverflow in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_RemoteSensorPosOverflow Status Signal Object

    • getStickyFault_RemoteSensorPosOverflow

      public final StatusSignal<Boolean> getStickyFault_RemoteSensorPosOverflow()
      The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_RemoteSensorPosOverflow in interface HasTalonSignals
      Returns:
      StickyFault_RemoteSensorPosOverflow Status Signal Object

    • getStickyFault_RemoteSensorPosOverflow

      public final StatusSignal<Boolean> getStickyFault_RemoteSensorPosOverflow(boolean refresh)
      The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_RemoteSensorPosOverflow in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_RemoteSensorPosOverflow Status Signal Object

    • getFault_OverSupplyV

      public final StatusSignal<Boolean> getFault_OverSupplyV()
      Supply Voltage has exceeded the maximum voltage rating of device.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_OverSupplyV in interface HasTalonSignals
      Returns:
      Fault_OverSupplyV Status Signal Object

    • getFault_OverSupplyV

      public final StatusSignal<Boolean> getFault_OverSupplyV(boolean refresh)
      Supply Voltage has exceeded the maximum voltage rating of device.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_OverSupplyV in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_OverSupplyV Status Signal Object

    • getStickyFault_OverSupplyV

      public final StatusSignal<Boolean> getStickyFault_OverSupplyV()
      Supply Voltage has exceeded the maximum voltage rating of device.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_OverSupplyV in interface HasTalonSignals
      Returns:
      StickyFault_OverSupplyV Status Signal Object

    • getStickyFault_OverSupplyV

      public final StatusSignal<Boolean> getStickyFault_OverSupplyV(boolean refresh)
      Supply Voltage has exceeded the maximum voltage rating of device.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_OverSupplyV in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_OverSupplyV Status Signal Object

    • getFault_UnstableSupplyV

      public final StatusSignal<Boolean> getFault_UnstableSupplyV()
      Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_UnstableSupplyV in interface HasTalonSignals
      Returns:
      Fault_UnstableSupplyV Status Signal Object

    • getFault_UnstableSupplyV

      public final StatusSignal<Boolean> getFault_UnstableSupplyV(boolean refresh)
      Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_UnstableSupplyV in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_UnstableSupplyV Status Signal Object

    • getStickyFault_UnstableSupplyV

      public final StatusSignal<Boolean> getStickyFault_UnstableSupplyV()
      Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_UnstableSupplyV in interface HasTalonSignals
      Returns:
      StickyFault_UnstableSupplyV Status Signal Object

    • getStickyFault_UnstableSupplyV

      public final StatusSignal<Boolean> getStickyFault_UnstableSupplyV(boolean refresh)
      Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_UnstableSupplyV in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_UnstableSupplyV Status Signal Object

    • getFault_ReverseHardLimit

      public final StatusSignal<Boolean> getFault_ReverseHardLimit()
      Reverse limit switch has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ReverseHardLimit in interface HasTalonSignals
      Returns:
      Fault_ReverseHardLimit Status Signal Object

    • getFault_ReverseHardLimit

      public final StatusSignal<Boolean> getFault_ReverseHardLimit(boolean refresh)
      Reverse limit switch has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ReverseHardLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_ReverseHardLimit Status Signal Object

    • getStickyFault_ReverseHardLimit

      public final StatusSignal<Boolean> getStickyFault_ReverseHardLimit()
      Reverse limit switch has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ReverseHardLimit in interface HasTalonSignals
      Returns:
      StickyFault_ReverseHardLimit Status Signal Object

    • getStickyFault_ReverseHardLimit

      public final StatusSignal<Boolean> getStickyFault_ReverseHardLimit(boolean refresh)
      Reverse limit switch has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ReverseHardLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_ReverseHardLimit Status Signal Object

    • getFault_ForwardHardLimit

      public final StatusSignal<Boolean> getFault_ForwardHardLimit()
      Forward limit switch has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ForwardHardLimit in interface HasTalonSignals
      Returns:
      Fault_ForwardHardLimit Status Signal Object

    • getFault_ForwardHardLimit

      public final StatusSignal<Boolean> getFault_ForwardHardLimit(boolean refresh)
      Forward limit switch has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ForwardHardLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_ForwardHardLimit Status Signal Object

    • getStickyFault_ForwardHardLimit

      public final StatusSignal<Boolean> getStickyFault_ForwardHardLimit()
      Forward limit switch has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ForwardHardLimit in interface HasTalonSignals
      Returns:
      StickyFault_ForwardHardLimit Status Signal Object

    • getStickyFault_ForwardHardLimit

      public final StatusSignal<Boolean> getStickyFault_ForwardHardLimit(boolean refresh)
      Forward limit switch has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ForwardHardLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_ForwardHardLimit Status Signal Object

    • getFault_ReverseSoftLimit

      public final StatusSignal<Boolean> getFault_ReverseSoftLimit()
      Reverse soft limit has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ReverseSoftLimit in interface HasTalonSignals
      Returns:
      Fault_ReverseSoftLimit Status Signal Object

    • getFault_ReverseSoftLimit

      public final StatusSignal<Boolean> getFault_ReverseSoftLimit(boolean refresh)
      Reverse soft limit has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ReverseSoftLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_ReverseSoftLimit Status Signal Object

    • getStickyFault_ReverseSoftLimit

      public final StatusSignal<Boolean> getStickyFault_ReverseSoftLimit()
      Reverse soft limit has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ReverseSoftLimit in interface HasTalonSignals
      Returns:
      StickyFault_ReverseSoftLimit Status Signal Object

    • getStickyFault_ReverseSoftLimit

      public final StatusSignal<Boolean> getStickyFault_ReverseSoftLimit(boolean refresh)
      Reverse soft limit has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ReverseSoftLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_ReverseSoftLimit Status Signal Object

    • getFault_ForwardSoftLimit

      public final StatusSignal<Boolean> getFault_ForwardSoftLimit()
      Forward soft limit has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ForwardSoftLimit in interface HasTalonSignals
      Returns:
      Fault_ForwardSoftLimit Status Signal Object

    • getFault_ForwardSoftLimit

      public final StatusSignal<Boolean> getFault_ForwardSoftLimit(boolean refresh)
      Forward soft limit has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_ForwardSoftLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_ForwardSoftLimit Status Signal Object

    • getStickyFault_ForwardSoftLimit

      public final StatusSignal<Boolean> getStickyFault_ForwardSoftLimit()
      Forward soft limit has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ForwardSoftLimit in interface HasTalonSignals
      Returns:
      StickyFault_ForwardSoftLimit Status Signal Object

    • getStickyFault_ForwardSoftLimit

      public final StatusSignal<Boolean> getStickyFault_ForwardSoftLimit(boolean refresh)
      Forward soft limit has been asserted. Output is set to neutral.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_ForwardSoftLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_ForwardSoftLimit Status Signal Object

    • getFault_MissingSoftLimitRemote

      public final StatusSignal<Boolean> getFault_MissingSoftLimitRemote()
      The remote soft limit device is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MissingSoftLimitRemote in interface HasTalonSignals
      Returns:
      Fault_MissingSoftLimitRemote Status Signal Object

    • getFault_MissingSoftLimitRemote

      public final StatusSignal<Boolean> getFault_MissingSoftLimitRemote(boolean refresh)
      The remote soft limit device is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MissingSoftLimitRemote in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_MissingSoftLimitRemote Status Signal Object

    • getStickyFault_MissingSoftLimitRemote

      public final StatusSignal<Boolean> getStickyFault_MissingSoftLimitRemote()
      The remote soft limit device is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MissingSoftLimitRemote in interface HasTalonSignals
      Returns:
      StickyFault_MissingSoftLimitRemote Status Signal Object

    • getStickyFault_MissingSoftLimitRemote

      public final StatusSignal<Boolean> getStickyFault_MissingSoftLimitRemote(boolean refresh)
      The remote soft limit device is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MissingSoftLimitRemote in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_MissingSoftLimitRemote Status Signal Object

    • getFault_MissingHardLimitRemote

      public final StatusSignal<Boolean> getFault_MissingHardLimitRemote()
      The remote limit switch device is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MissingHardLimitRemote in interface HasTalonSignals
      Returns:
      Fault_MissingHardLimitRemote Status Signal Object

    • getFault_MissingHardLimitRemote

      public final StatusSignal<Boolean> getFault_MissingHardLimitRemote(boolean refresh)
      The remote limit switch device is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MissingHardLimitRemote in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_MissingHardLimitRemote Status Signal Object

    • getStickyFault_MissingHardLimitRemote

      public final StatusSignal<Boolean> getStickyFault_MissingHardLimitRemote()
      The remote limit switch device is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MissingHardLimitRemote in interface HasTalonSignals
      Returns:
      StickyFault_MissingHardLimitRemote Status Signal Object

    • getStickyFault_MissingHardLimitRemote

      public final StatusSignal<Boolean> getStickyFault_MissingHardLimitRemote(boolean refresh)
      The remote limit switch device is not present on CAN Bus.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MissingHardLimitRemote in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_MissingHardLimitRemote Status Signal Object

    • getFault_RemoteSensorDataInvalid

      public final StatusSignal<Boolean> getFault_RemoteSensorDataInvalid()
      The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_RemoteSensorDataInvalid in interface HasTalonSignals
      Returns:
      Fault_RemoteSensorDataInvalid Status Signal Object

    • getFault_RemoteSensorDataInvalid

      public final StatusSignal<Boolean> getFault_RemoteSensorDataInvalid(boolean refresh)
      The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_RemoteSensorDataInvalid in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_RemoteSensorDataInvalid Status Signal Object

    • getStickyFault_RemoteSensorDataInvalid

      public final StatusSignal<Boolean> getStickyFault_RemoteSensorDataInvalid()
      The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_RemoteSensorDataInvalid in interface HasTalonSignals
      Returns:
      StickyFault_RemoteSensorDataInvalid Status Signal Object

    • getStickyFault_RemoteSensorDataInvalid

      public final StatusSignal<Boolean> getStickyFault_RemoteSensorDataInvalid(boolean refresh)
      The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_RemoteSensorDataInvalid in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_RemoteSensorDataInvalid Status Signal Object

    • getFault_FusedSensorOutOfSync

      public final StatusSignal<Boolean> getFault_FusedSensorOutOfSync()
      The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_FusedSensorOutOfSync in interface HasTalonSignals
      Returns:
      Fault_FusedSensorOutOfSync Status Signal Object

    • getFault_FusedSensorOutOfSync

      public final StatusSignal<Boolean> getFault_FusedSensorOutOfSync(boolean refresh)
      The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_FusedSensorOutOfSync in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_FusedSensorOutOfSync Status Signal Object

    • getStickyFault_FusedSensorOutOfSync

      public final StatusSignal<Boolean> getStickyFault_FusedSensorOutOfSync()
      The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_FusedSensorOutOfSync in interface HasTalonSignals
      Returns:
      StickyFault_FusedSensorOutOfSync Status Signal Object

    • getStickyFault_FusedSensorOutOfSync

      public final StatusSignal<Boolean> getStickyFault_FusedSensorOutOfSync(boolean refresh)
      The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_FusedSensorOutOfSync in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_FusedSensorOutOfSync Status Signal Object

    • getFault_StatorCurrLimit

      public final StatusSignal<Boolean> getFault_StatorCurrLimit()
      Stator current limit occured.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_StatorCurrLimit in interface HasTalonSignals
      Returns:
      Fault_StatorCurrLimit Status Signal Object

    • getFault_StatorCurrLimit

      public final StatusSignal<Boolean> getFault_StatorCurrLimit(boolean refresh)
      Stator current limit occured.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_StatorCurrLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_StatorCurrLimit Status Signal Object

    • getStickyFault_StatorCurrLimit

      public final StatusSignal<Boolean> getStickyFault_StatorCurrLimit()
      Stator current limit occured.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_StatorCurrLimit in interface HasTalonSignals
      Returns:
      StickyFault_StatorCurrLimit Status Signal Object

    • getStickyFault_StatorCurrLimit

      public final StatusSignal<Boolean> getStickyFault_StatorCurrLimit(boolean refresh)
      Stator current limit occured.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_StatorCurrLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_StatorCurrLimit Status Signal Object

    • getFault_SupplyCurrLimit

      public final StatusSignal<Boolean> getFault_SupplyCurrLimit()
      Supply current limit occured.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_SupplyCurrLimit in interface HasTalonSignals
      Returns:
      Fault_SupplyCurrLimit Status Signal Object

    • getFault_SupplyCurrLimit

      public final StatusSignal<Boolean> getFault_SupplyCurrLimit(boolean refresh)
      Supply current limit occured.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_SupplyCurrLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_SupplyCurrLimit Status Signal Object

    • getStickyFault_SupplyCurrLimit

      public final StatusSignal<Boolean> getStickyFault_SupplyCurrLimit()
      Supply current limit occured.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_SupplyCurrLimit in interface HasTalonSignals
      Returns:
      StickyFault_SupplyCurrLimit Status Signal Object

    • getStickyFault_SupplyCurrLimit

      public final StatusSignal<Boolean> getStickyFault_SupplyCurrLimit(boolean refresh)
      Supply current limit occured.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_SupplyCurrLimit in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_SupplyCurrLimit Status Signal Object

    • getFault_UsingFusedCANcoderWhileUnlicensed

      public final StatusSignal<Boolean> getFault_UsingFusedCANcoderWhileUnlicensed()
      Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_UsingFusedCANcoderWhileUnlicensed in interface HasTalonSignals
      Returns:
      Fault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

    • getFault_UsingFusedCANcoderWhileUnlicensed

      public final StatusSignal<Boolean> getFault_UsingFusedCANcoderWhileUnlicensed(boolean refresh)
      Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_UsingFusedCANcoderWhileUnlicensed in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

    • getStickyFault_UsingFusedCANcoderWhileUnlicensed

      public final StatusSignal<Boolean> getStickyFault_UsingFusedCANcoderWhileUnlicensed()
      Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_UsingFusedCANcoderWhileUnlicensed in interface HasTalonSignals
      Returns:
      StickyFault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

    • getStickyFault_UsingFusedCANcoderWhileUnlicensed

      public final StatusSignal<Boolean> getStickyFault_UsingFusedCANcoderWhileUnlicensed(boolean refresh)
      Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_UsingFusedCANcoderWhileUnlicensed in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

    • getFault_StaticBrakeDisabled

      public final StatusSignal<Boolean> getFault_StaticBrakeDisabled()
      Static brake was momentarily disabled due to excessive braking current while disabled.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_StaticBrakeDisabled in interface HasTalonSignals
      Returns:
      Fault_StaticBrakeDisabled Status Signal Object

    • getFault_StaticBrakeDisabled

      public final StatusSignal<Boolean> getFault_StaticBrakeDisabled(boolean refresh)
      Static brake was momentarily disabled due to excessive braking current while disabled.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_StaticBrakeDisabled in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_StaticBrakeDisabled Status Signal Object

    • getStickyFault_StaticBrakeDisabled

      public final StatusSignal<Boolean> getStickyFault_StaticBrakeDisabled()
      Static brake was momentarily disabled due to excessive braking current while disabled.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_StaticBrakeDisabled in interface HasTalonSignals
      Returns:
      StickyFault_StaticBrakeDisabled Status Signal Object

    • getStickyFault_StaticBrakeDisabled

      public final StatusSignal<Boolean> getStickyFault_StaticBrakeDisabled(boolean refresh)
      Static brake was momentarily disabled due to excessive braking current while disabled.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_StaticBrakeDisabled in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_StaticBrakeDisabled Status Signal Object

    • getFault_BridgeShort

      public final StatusSignal<Boolean> getFault_BridgeShort()
      Bridge was disabled most likely due to a short in the motor leads.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_BridgeShort in interface HasExternalMotor
      Returns:
      Fault_BridgeShort Status Signal Object

    • getFault_BridgeShort

      public final StatusSignal<Boolean> getFault_BridgeShort(boolean refresh)
      Bridge was disabled most likely due to a short in the motor leads.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_BridgeShort in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_BridgeShort Status Signal Object

    • getStickyFault_BridgeShort

      public final StatusSignal<Boolean> getStickyFault_BridgeShort()
      Bridge was disabled most likely due to a short in the motor leads.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_BridgeShort in interface HasExternalMotor
      Returns:
      StickyFault_BridgeShort Status Signal Object

    • getStickyFault_BridgeShort

      public final StatusSignal<Boolean> getStickyFault_BridgeShort(boolean refresh)
      Bridge was disabled most likely due to a short in the motor leads.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_BridgeShort in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_BridgeShort Status Signal Object

    • getFault_HallSensorMissing

      public final StatusSignal<Boolean> getFault_HallSensorMissing()
      Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_HallSensorMissing in interface HasExternalMotor
      Returns:
      Fault_HallSensorMissing Status Signal Object

    • getFault_HallSensorMissing

      public final StatusSignal<Boolean> getFault_HallSensorMissing(boolean refresh)
      Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_HallSensorMissing in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_HallSensorMissing Status Signal Object

    • getStickyFault_HallSensorMissing

      public final StatusSignal<Boolean> getStickyFault_HallSensorMissing()
      Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_HallSensorMissing in interface HasExternalMotor
      Returns:
      StickyFault_HallSensorMissing Status Signal Object

    • getStickyFault_HallSensorMissing

      public final StatusSignal<Boolean> getStickyFault_HallSensorMissing(boolean refresh)
      Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_HallSensorMissing in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_HallSensorMissing Status Signal Object

    • getFault_DriveDisabledHallSensor

      public final StatusSignal<Boolean> getFault_DriveDisabledHallSensor()
      Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_DriveDisabledHallSensor in interface HasExternalMotor
      Returns:
      Fault_DriveDisabledHallSensor Status Signal Object

    • getFault_DriveDisabledHallSensor

      public final StatusSignal<Boolean> getFault_DriveDisabledHallSensor(boolean refresh)
      Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_DriveDisabledHallSensor in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_DriveDisabledHallSensor Status Signal Object

    • getStickyFault_DriveDisabledHallSensor

      public final StatusSignal<Boolean> getStickyFault_DriveDisabledHallSensor()
      Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_DriveDisabledHallSensor in interface HasExternalMotor
      Returns:
      StickyFault_DriveDisabledHallSensor Status Signal Object

    • getStickyFault_DriveDisabledHallSensor

      public final StatusSignal<Boolean> getStickyFault_DriveDisabledHallSensor(boolean refresh)
      Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_DriveDisabledHallSensor in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_DriveDisabledHallSensor Status Signal Object

    • getFault_MotorTempSensorMissing

      public final StatusSignal<Boolean> getFault_MotorTempSensorMissing()
      Motor temperature signal appears to not be connected.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MotorTempSensorMissing in interface HasExternalMotor
      Returns:
      Fault_MotorTempSensorMissing Status Signal Object

    • getFault_MotorTempSensorMissing

      public final StatusSignal<Boolean> getFault_MotorTempSensorMissing(boolean refresh)
      Motor temperature signal appears to not be connected.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MotorTempSensorMissing in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_MotorTempSensorMissing Status Signal Object

    • getStickyFault_MotorTempSensorMissing

      public final StatusSignal<Boolean> getStickyFault_MotorTempSensorMissing()
      Motor temperature signal appears to not be connected.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MotorTempSensorMissing in interface HasExternalMotor
      Returns:
      StickyFault_MotorTempSensorMissing Status Signal Object

    • getStickyFault_MotorTempSensorMissing

      public final StatusSignal<Boolean> getStickyFault_MotorTempSensorMissing(boolean refresh)
      Motor temperature signal appears to not be connected.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MotorTempSensorMissing in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_MotorTempSensorMissing Status Signal Object

    • getFault_MotorTempSensorTooHot

      public final StatusSignal<Boolean> getFault_MotorTempSensorTooHot()
      Motor temperature signal indicates motor is too hot.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MotorTempSensorTooHot in interface HasExternalMotor
      Returns:
      Fault_MotorTempSensorTooHot Status Signal Object

    • getFault_MotorTempSensorTooHot

      public final StatusSignal<Boolean> getFault_MotorTempSensorTooHot(boolean refresh)
      Motor temperature signal indicates motor is too hot.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MotorTempSensorTooHot in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_MotorTempSensorTooHot Status Signal Object

    • getStickyFault_MotorTempSensorTooHot

      public final StatusSignal<Boolean> getStickyFault_MotorTempSensorTooHot()
      Motor temperature signal indicates motor is too hot.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MotorTempSensorTooHot in interface HasExternalMotor
      Returns:
      StickyFault_MotorTempSensorTooHot Status Signal Object

    • getStickyFault_MotorTempSensorTooHot

      public final StatusSignal<Boolean> getStickyFault_MotorTempSensorTooHot(boolean refresh)
      Motor temperature signal indicates motor is too hot.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MotorTempSensorTooHot in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_MotorTempSensorTooHot Status Signal Object

    • getFault_MotorArrangementNotSelected

      public final StatusSignal<Boolean> getFault_MotorArrangementNotSelected()
      Motor arrangement has not been set in configuration.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MotorArrangementNotSelected in interface HasExternalMotor
      Returns:
      Fault_MotorArrangementNotSelected Status Signal Object

    • getFault_MotorArrangementNotSelected

      public final StatusSignal<Boolean> getFault_MotorArrangementNotSelected(boolean refresh)
      Motor arrangement has not been set in configuration.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_MotorArrangementNotSelected in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_MotorArrangementNotSelected Status Signal Object

    • getStickyFault_MotorArrangementNotSelected

      public final StatusSignal<Boolean> getStickyFault_MotorArrangementNotSelected()
      Motor arrangement has not been set in configuration.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MotorArrangementNotSelected in interface HasExternalMotor
      Returns:
      StickyFault_MotorArrangementNotSelected Status Signal Object

    • getStickyFault_MotorArrangementNotSelected

      public final StatusSignal<Boolean> getStickyFault_MotorArrangementNotSelected(boolean refresh)
      Motor arrangement has not been set in configuration.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_MotorArrangementNotSelected in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_MotorArrangementNotSelected Status Signal Object

    • getFault_5V

      public final StatusSignal<Boolean> getFault_5V()
      The CTR Electronics' TalonFX device has detected a 5V fault. This may be due to overcurrent or a short-circuit.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_5V in interface HasExternalMotor
      Returns:
      Fault_5V Status Signal Object

    • getFault_5V

      public final StatusSignal<Boolean> getFault_5V(boolean refresh)
      The CTR Electronics' TalonFX device has detected a 5V fault. This may be due to overcurrent or a short-circuit.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getFault_5V in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_5V Status Signal Object

    • getStickyFault_5V

      public final StatusSignal<Boolean> getStickyFault_5V()
      The CTR Electronics' TalonFX device has detected a 5V fault. This may be due to overcurrent or a short-circuit.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_5V in interface HasExternalMotor
      Returns:
      StickyFault_5V Status Signal Object

    • getStickyFault_5V

      public final StatusSignal<Boolean> getStickyFault_5V(boolean refresh)
      The CTR Electronics' TalonFX device has detected a 5V fault. This may be due to overcurrent or a short-circuit.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getStickyFault_5V in interface HasExternalMotor
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_5V Status Signal Object

    • getClosedLoopProportionalOutput

      public final StatusSignal<Double> getClosedLoopProportionalOutput()
      Closed loop proportional component.

      The portion of the closed loop output that is proportional to the error. Alternatively, the kP contribution of the closed loop output.

      When using differential control, this applies to the average axis. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopProportionalOutput in interface HasTalonSignals
      Returns:
      ClosedLoopProportionalOutput Status Signal object

    • getClosedLoopProportionalOutput

      public final StatusSignal<Double> getClosedLoopProportionalOutput(boolean refresh)
      Closed loop proportional component.

      The portion of the closed loop output that is proportional to the error. Alternatively, the kP contribution of the closed loop output.

      When using differential control, this applies to the average axis. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopProportionalOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopProportionalOutput Status Signal object

    • getClosedLoopIntegratedOutput

      public final StatusSignal<Double> getClosedLoopIntegratedOutput()
      Closed loop integrated component.

      The portion of the closed loop output that is proportional to the integrated error. Alternatively, the kI contribution of the closed loop output.

      When using differential control, this applies to the average axis. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopIntegratedOutput in interface HasTalonSignals
      Returns:
      ClosedLoopIntegratedOutput Status Signal object

    • getClosedLoopIntegratedOutput

      public final StatusSignal<Double> getClosedLoopIntegratedOutput(boolean refresh)
      Closed loop integrated component.

      The portion of the closed loop output that is proportional to the integrated error. Alternatively, the kI contribution of the closed loop output.

      When using differential control, this applies to the average axis. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopIntegratedOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopIntegratedOutput Status Signal object

    • getClosedLoopFeedForward

      public final StatusSignal<Double> getClosedLoopFeedForward()
      Feedforward passed by the user.

      This is the general feedforward that the user provides for the closed loop.

      When using differential control, this applies to the average axis. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopFeedForward in interface HasTalonSignals
      Returns:
      ClosedLoopFeedForward Status Signal object

    • getClosedLoopFeedForward

      public final StatusSignal<Double> getClosedLoopFeedForward(boolean refresh)
      Feedforward passed by the user.

      This is the general feedforward that the user provides for the closed loop.

      When using differential control, this applies to the average axis. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopFeedForward in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopFeedForward Status Signal object

    • getClosedLoopDerivativeOutput

      public final StatusSignal<Double> getClosedLoopDerivativeOutput()
      Closed loop derivative component.

      The portion of the closed loop output that is proportional to the deriviative of error. Alternatively, the kD contribution of the closed loop output.

      When using differential control, this applies to the average axis. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopDerivativeOutput in interface HasTalonSignals
      Returns:
      ClosedLoopDerivativeOutput Status Signal object

    • getClosedLoopDerivativeOutput

      public final StatusSignal<Double> getClosedLoopDerivativeOutput(boolean refresh)
      Closed loop derivative component.

      The portion of the closed loop output that is proportional to the deriviative of error. Alternatively, the kD contribution of the closed loop output.

      When using differential control, this applies to the average axis. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopDerivativeOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopDerivativeOutput Status Signal object

    • getClosedLoopOutput

      public final StatusSignal<Double> getClosedLoopOutput()
      Closed loop total output.

      The total output of the closed loop output.

      When using differential control, this applies to the average axis. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopOutput in interface HasTalonSignals
      Returns:
      ClosedLoopOutput Status Signal object

    • getClosedLoopOutput

      public final StatusSignal<Double> getClosedLoopOutput(boolean refresh)
      Closed loop total output.

      The total output of the closed loop output.

      When using differential control, this applies to the average axis. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopOutput Status Signal object

    • getClosedLoopReference

      public final StatusSignal<Double> getClosedLoopReference()
      Value that the closed loop is targeting.

      This is the value that the closed loop PID controller targets.

      When using differential control, this applies to the average axis. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopReference in interface HasTalonSignals
      Returns:
      ClosedLoopReference Status Signal object

    • getClosedLoopReference

      public final StatusSignal<Double> getClosedLoopReference(boolean refresh)
      Value that the closed loop is targeting.

      This is the value that the closed loop PID controller targets.

      When using differential control, this applies to the average axis. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopReference in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopReference Status Signal object

    • getClosedLoopReferenceSlope

      public final StatusSignal<Double> getClosedLoopReferenceSlope()
      Derivative of the target that the closed loop is targeting.

      This is the change in the closed loop reference. This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®.

      When using differential control, this applies to the average axis. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopReferenceSlope in interface HasTalonSignals
      Returns:
      ClosedLoopReferenceSlope Status Signal object

    • getClosedLoopReferenceSlope

      public final StatusSignal<Double> getClosedLoopReferenceSlope(boolean refresh)
      Derivative of the target that the closed loop is targeting.

      This is the change in the closed loop reference. This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®.

      When using differential control, this applies to the average axis. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopReferenceSlope in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopReferenceSlope Status Signal object

    • getClosedLoopError

      public final StatusSignal<Double> getClosedLoopError()
      The difference between target reference and current measurement.

      This is the value that is treated as the error in the PID loop.

      When using differential control, this applies to the average axis. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopError in interface HasTalonSignals
      Returns:
      ClosedLoopError Status Signal object

    • getClosedLoopError

      public final StatusSignal<Double> getClosedLoopError(boolean refresh)
      The difference between target reference and current measurement.

      This is the value that is treated as the error in the PID loop.

      When using differential control, this applies to the average axis. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getClosedLoopError in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      ClosedLoopError Status Signal object

    • getDifferentialOutput

      public final StatusSignal<Double> getDifferentialOutput()
      The calculated motor output for differential followers.

      This is a torque request when using the TorqueCurrentFOC control output type, a voltage request when using the Voltage control output type, and a duty cycle when using the DutyCycle control output type. Default Rates:

      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialOutput in interface HasTalonSignals
      Returns:
      DifferentialOutput Status Signal object

    • getDifferentialOutput

      public final StatusSignal<Double> getDifferentialOutput(boolean refresh)
      The calculated motor output for differential followers.

      This is a torque request when using the TorqueCurrentFOC control output type, a voltage request when using the Voltage control output type, and a duty cycle when using the DutyCycle control output type. Default Rates:

      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialOutput Status Signal object

    • getDifferentialClosedLoopProportionalOutput

      public final StatusSignal<Double> getDifferentialClosedLoopProportionalOutput()
      Differential closed loop proportional component.

      The portion of the differential closed loop output (on the difference axis) that is proportional to the error. Alternatively, the kP contribution of the closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopProportionalOutput in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopProportionalOutput Status Signal object

    • getDifferentialClosedLoopProportionalOutput

      public final StatusSignal<Double> getDifferentialClosedLoopProportionalOutput(boolean refresh)
      Differential closed loop proportional component.

      The portion of the differential closed loop output (on the difference axis) that is proportional to the error. Alternatively, the kP contribution of the closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopProportionalOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopProportionalOutput Status Signal object

    • getDifferentialClosedLoopIntegratedOutput

      public final StatusSignal<Double> getDifferentialClosedLoopIntegratedOutput()
      Differential closed loop integrated component.

      The portion of the differential closed loop output (on the difference axis) that is proportional to the integrated error. Alternatively, the kI contribution of the closed loop output. Default Rates:

      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopIntegratedOutput in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopIntegratedOutput Status Signal object

    • getDifferentialClosedLoopIntegratedOutput

      public final StatusSignal<Double> getDifferentialClosedLoopIntegratedOutput(boolean refresh)
      Differential closed loop integrated component.

      The portion of the differential closed loop output (on the difference axis) that is proportional to the integrated error. Alternatively, the kI contribution of the closed loop output. Default Rates:

      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopIntegratedOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopIntegratedOutput Status Signal object

    • getDifferentialClosedLoopFeedForward

      public final StatusSignal<Double> getDifferentialClosedLoopFeedForward()
      Differential Feedforward passed by the user.

      This is the general feedforward that the user provides for the differential closed loop (on the difference axis). Default Rates:

      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopFeedForward in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopFeedForward Status Signal object

    • getDifferentialClosedLoopFeedForward

      public final StatusSignal<Double> getDifferentialClosedLoopFeedForward(boolean refresh)
      Differential Feedforward passed by the user.

      This is the general feedforward that the user provides for the differential closed loop (on the difference axis). Default Rates:

      • CAN 2.0: 100.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopFeedForward in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopFeedForward Status Signal object

    • getDifferentialClosedLoopDerivativeOutput

      public final StatusSignal<Double> getDifferentialClosedLoopDerivativeOutput()
      Differential closed loop derivative component.

      The portion of the differential closed loop output (on the difference axis) that is proportional to the deriviative of error. Alternatively, the kD contribution of the closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopDerivativeOutput in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopDerivativeOutput Status Signal object

    • getDifferentialClosedLoopDerivativeOutput

      public final StatusSignal<Double> getDifferentialClosedLoopDerivativeOutput(boolean refresh)
      Differential closed loop derivative component.

      The portion of the differential closed loop output (on the difference axis) that is proportional to the deriviative of error. Alternatively, the kD contribution of the closed loop output. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopDerivativeOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopDerivativeOutput Status Signal object

    • getDifferentialClosedLoopOutput

      public final StatusSignal<Double> getDifferentialClosedLoopOutput()
      Differential closed loop total output.

      The total output of the differential closed loop output (on the difference axis). Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopOutput in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopOutput Status Signal object

    • getDifferentialClosedLoopOutput

      public final StatusSignal<Double> getDifferentialClosedLoopOutput(boolean refresh)
      Differential closed loop total output.

      The total output of the differential closed loop output (on the difference axis). Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopOutput in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopOutput Status Signal object

    • getDifferentialClosedLoopReference

      public final StatusSignal<Double> getDifferentialClosedLoopReference()
      Value that the differential closed loop is targeting.

      This is the value that the differential closed loop PID controller targets (on the difference axis). Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopReference in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopReference Status Signal object

    • getDifferentialClosedLoopReference

      public final StatusSignal<Double> getDifferentialClosedLoopReference(boolean refresh)
      Value that the differential closed loop is targeting.

      This is the value that the differential closed loop PID controller targets (on the difference axis). Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopReference in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopReference Status Signal object

    • getDifferentialClosedLoopReferenceSlope

      public final StatusSignal<Double> getDifferentialClosedLoopReferenceSlope()
      Derivative of the target that the differential closed loop is targeting.

      This is the change in the closed loop reference (on the difference axis). This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopReferenceSlope in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopReferenceSlope Status Signal object

    • getDifferentialClosedLoopReferenceSlope

      public final StatusSignal<Double> getDifferentialClosedLoopReferenceSlope(boolean refresh)
      Derivative of the target that the differential closed loop is targeting.

      This is the change in the closed loop reference (on the difference axis). This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®. Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopReferenceSlope in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopReferenceSlope Status Signal object

    • getDifferentialClosedLoopError

      public final StatusSignal<Double> getDifferentialClosedLoopError()
      The difference between target differential reference and current measurement.

      This is the value that is treated as the error in the differential PID loop (on the difference axis). Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopError in interface HasTalonSignals
      Returns:
      DifferentialClosedLoopError Status Signal object

    • getDifferentialClosedLoopError

      public final StatusSignal<Double> getDifferentialClosedLoopError(boolean refresh)
      The difference between target differential reference and current measurement.

      This is the value that is treated as the error in the differential PID loop (on the difference axis). Default Rates:

      • CAN 2.0: 4.0 Hz
      • CAN FD: 100.0 Hz (TimeSynced with Pro)

      This refreshes and returns a cached StatusSignal object.

      Specified by:
      getDifferentialClosedLoopError in interface HasTalonSignals
      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      DifferentialClosedLoopError Status Signal object

    • setControl

      public final StatusCode setControl(DutyCycleOut request)
      Request a specified motor duty cycle.

      This control mode will output a proportion of the supplied voltage which is supplied by the user.

      • DutyCycleOut Parameters:
        • Output: Proportion of supply voltage to apply in fractional units between -1 and +1
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(VoltageOut request)
      Request a specified voltage.

      This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage.

      • VoltageOut Parameters:
        • Output: Voltage to attempt to drive at
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(PositionDutyCycle request)
      Request PID to target position with duty cycle feedforward.

      This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional duty cycle as an arbitrary feedforward value.

      • PositionDutyCycle Parameters:
        • Position: Position to drive toward in rotations.
        • Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • FeedForward: Feedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
        • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(PositionVoltage request)
      Request PID to target position with voltage feedforward

      This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

      • PositionVoltage Parameters:
        • Position: Position to drive toward in rotations.
        • Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • FeedForward: Feedforward to apply in volts. This is added to the output of the onboard feedforward terms.
        • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(VelocityDutyCycle request)
      Request PID to target velocity with duty cycle feedforward.

      This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

      • VelocityDutyCycle Parameters:
        • Velocity: Velocity to drive toward in rotations per second.
        • Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • FeedForward: Feedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
        • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(VelocityVoltage request)
      Request PID to target velocity with voltage feedforward.

      This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

      • VelocityVoltage Parameters:
        • Velocity: Velocity to drive toward in rotations per second.
        • Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • FeedForward: Feedforward to apply in volts This is added to the output of the onboard feedforward terms.
        • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(MotionMagicDutyCycle request)
      Requests Motion Magic® to target a final position using a motion profile. Users can optionally provide a duty cycle feedforward.

      Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and (optional) Jerk specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs.

      Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

      • MotionMagicDutyCycle Parameters:
        • Position: Position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • FeedForward: Feedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
        • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(MotionMagicVoltage request)
      Requests Motion Magic® to target a final position using a motion profile. Users can optionally provide a voltage feedforward.

      Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and (optional) Jerk specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs.

      Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

      • MotionMagicVoltage Parameters:
        • Position: Position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • FeedForward: Feedforward to apply in volts. This is added to the output of the onboard feedforward terms.
        • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DifferentialDutyCycle request)
      Request a specified motor duty cycle with a differential position closed-loop.

      This control mode will output a proportion of the supplied voltage which is supplied by the user. It will also set the motor's differential position setpoint to the specified position.

      • DifferentialDutyCycle Parameters:
        • AverageOutput: Proportion of supply voltage to apply on the Average axis in fractional units between -1 and +1.
        • DifferentialPosition: Differential position to drive towards in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DifferentialVoltage request)
      Request a specified voltage with a differential position closed-loop.

      This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage. It will also set the motor's differential position setpoint to the specified position.

      • DifferentialVoltage Parameters:
        • AverageOutput: Voltage to attempt to drive at on the Average axis.
        • DifferentialPosition: Differential position to drive towards in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DifferentialPositionDutyCycle request)
      Request PID to target position with a differential position setpoint.

      This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.

      • DifferentialPositionDutyCycle Parameters:
        • AveragePosition: Average position to drive toward in rotations.
        • DifferentialPosition: Differential position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DifferentialPositionVoltage request)
      Request PID to target position with a differential position setpoint

      This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.

      • DifferentialPositionVoltage Parameters:
        • AveragePosition: Average position to drive toward in rotations.
        • DifferentialPosition: Differential position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DifferentialVelocityDutyCycle request)
      Request PID to target velocity with a differential position setpoint.

      This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.

      • DifferentialVelocityDutyCycle Parameters:
        • AverageVelocity: Average velocity to drive toward in rotations per second.
        • DifferentialPosition: Differential position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DifferentialVelocityVoltage request)
      Request PID to target velocity with a differential position setpoint.

      This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.

      • DifferentialVelocityVoltage Parameters:
        • AverageVelocity: Average velocity to drive toward in rotations per second.
        • DifferentialPosition: Differential position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DifferentialMotionMagicDutyCycle request)
      Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

      Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and (optional) Jerk specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs.

      Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

      • DifferentialMotionMagicDutyCycle Parameters:
        • AveragePosition: Average position to drive toward in rotations.
        • DifferentialPosition: Differential position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DifferentialMotionMagicVoltage request)
      Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

      Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and (optional) Jerk specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs.

      Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

      • DifferentialMotionMagicVoltage Parameters:
        • AveragePosition: Average position to drive toward in rotations.
        • DifferentialPosition: Differential position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DifferentialMotionMagicExpoDutyCycle request)
      Requests Motion Magic® to target a final position using an exponential motion profile, and PID to a differential position setpoint.

      Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

      Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

      Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

      • DifferentialMotionMagicExpoDutyCycle Parameters:
        • AveragePosition: Average position to drive toward in rotations.
        • DifferentialPosition: Differential position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DifferentialMotionMagicExpoVoltage request)
      Requests Motion Magic® to target a final position using an exponential motion profile, and PID to a differential position setpoint.

      Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

      Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

      Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

      • DifferentialMotionMagicExpoVoltage Parameters:
        • AveragePosition: Average position to drive toward in rotations.
        • DifferentialPosition: Differential position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DifferentialMotionMagicVelocityDutyCycle request)
      Requests Motion Magic® to target a final velocity using a motion profile, and PID to a differential position setpoint. This allows smooth transitions between velocity set points.

      Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

      Acceleration and jerk are specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile.

      Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

      • DifferentialMotionMagicVelocityDutyCycle Parameters:
        • AverageVelocity: Average velocity to drive toward in rotations per second.
        • DifferentialPosition: Differential position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DifferentialMotionMagicVelocityVoltage request)
      Requests Motion Magic® to target a final velocity using a motion profile, and PID to a differential position setpoint. This allows smooth transitions between velocity set points.

      Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

      Acceleration and jerk are specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile.

      Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

      • DifferentialMotionMagicVelocityVoltage Parameters:
        • AverageVelocity: Average velocity to drive toward in rotations per second.
        • DifferentialPosition: Differential position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(Follower request)
      Follow the motor output of another Talon.

      The follower will atomically change its output type when it receives the leader's latest output status signal (DutyCycle, MotorVoltage, TorqueCurrent). If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the duty cycle is matched. If Talon is in voltage output control, the motor voltage is matched. Motor direction either matches the leader's configured direction or opposes it based on the MotorAlignment.

      The leader must ensure the status signal corresponding to its control output type (DutyCycle, MotorVoltage, TorqueCurrent) is enabled. The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

      • Follower Parameters:
        • LeaderID: Device ID of the leader to follow.
        • MotorAlignment: Set to Aligned for motor invert to match the leader's configured Invert - which is typical when leader and follower are mechanically linked and spin in the same direction. Set to Opposed for motor invert to oppose the leader's configured Invert - this is typical where the leader and follower mechanically spin in opposite directions.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(StrictFollower request)
      Follow the motor output of another Talon while ignoring the leader's invert setting.

      The follower will atomically change its output type when it receives the leader's latest output status signal (DutyCycle, MotorVoltage, TorqueCurrent). If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the duty cycle is matched. If Talon is in voltage output control, the motor voltage is matched. Motor direction is strictly determined by the configured invert and not the leader. If you want motor direction to match or oppose the leader, use Follower instead.

      The leader must ensure the status signal corresponding to its control output type (DutyCycle, MotorVoltage, TorqueCurrent) is enabled. The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

      • StrictFollower Parameters:
        • LeaderID: Device ID of the leader to follow.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DifferentialFollower request)
      Follow the differential motor output of another Talon.

      If Talon is in torque control, the differential torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the differential duty cycle is matched. If Talon is in voltage output control, the differential motor voltage is matched. Motor direction either matches leader's configured direction or opposes it based on the MotorAlignment.

      The leader must enable its DifferentialOutput status signal. The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

      • DifferentialFollower Parameters:
        • LeaderID: Device ID of the differential leader to follow.
        • MotorAlignment: Set to Aligned for motor invert to match the leader's configured Invert - which is typical when leader and follower are mechanically linked and spin in the same direction. Set to Opposed for motor invert to oppose the leader's configured Invert - this is typical where the leader and follower mechanically spin in opposite directions.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DifferentialStrictFollower request)
      Follow the differential motor output of another Talon while ignoring the leader's invert setting.

      If Talon is in torque control, the differential torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the differential duty cycle is matched. If Talon is in voltage output control, the differential motor voltage is matched. Motor direction is strictly determined by the configured invert and not the leader. If you want motor direction to match or oppose the leader, use DifferentialFollower instead.

      The leader must enable its DifferentialOutput status signal. The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

      • DifferentialStrictFollower Parameters:
        • LeaderID: Device ID of the differential leader to follow.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(NeutralOut request)
      Request neutral output of actuator. The applied brake type is determined by the NeutralMode configuration.
      • NeutralOut Parameters:
        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(CoastOut request)
      Request coast neutral output of actuator. The bridge is disabled and the rotor is allowed to coast.
      • CoastOut Parameters:
        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(StaticBrake request)
      Applies full neutral-brake by shorting motor leads together.
      • StaticBrake Parameters:
        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(MotionMagicVelocityDutyCycle request)
      Requests Motion Magic® to target a final velocity using a motion profile. This allows smooth transitions between velocity set points. Users can optionally provide a duty cycle feedforward.

      Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

      If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile.

      Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

      • MotionMagicVelocityDutyCycle Parameters:
        • Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
        • Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • FeedForward: Feedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
        • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(MotionMagicVelocityVoltage request)
      Requests Motion Magic® to target a final velocity using a motion profile. This allows smooth transitions between velocity set points. Users can optionally provide a voltage feedforward.

      Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

      If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile.

      Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

      • MotionMagicVelocityVoltage Parameters:
        • Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
        • Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • FeedForward: Feedforward to apply in volts. This is added to the output of the onboard feedforward terms.
        • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(MotionMagicExpoDutyCycle request)
      Requests Motion Magic® to target a final position using an exponential motion profile. Users can optionally provide a duty cycle feedforward.

      Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

      Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

      Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

      • MotionMagicExpoDutyCycle Parameters:
        • Position: Position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • FeedForward: Feedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
        • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(MotionMagicExpoVoltage request)
      Requests Motion Magic® to target a final position using an exponential motion profile. Users can optionally provide a voltage feedforward.

      Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

      Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

      Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

      • MotionMagicExpoVoltage Parameters:
        • Position: Position to drive toward in rotations.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • FeedForward: Feedforward to apply in volts. This is added to the output of the onboard feedforward terms.
        • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DynamicMotionMagicDutyCycle request)
      Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and (optional) Jerk. Users can optionally provide a duty cycle feedforward.

      Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and (optional) Jerk. This control mode does not use the Expo_kV or Expo_kA configs.

      Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

      • DynamicMotionMagicDutyCycle Parameters:
        • Position: Position to drive toward in rotations.
        • Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
        • Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation
        • Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.

          Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.

        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • FeedForward: Feedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
        • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DynamicMotionMagicVoltage request)
      Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and (optional) Jerk. Users can optionally provide a voltage feedforward.

      Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and (optional) Jerk. This control mode does not use the Expo_kV or Expo_kA configs.

      Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

      • DynamicMotionMagicVoltage Parameters:
        • Position: Position to drive toward in rotations.
        • Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
        • Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.
        • Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.

          Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.

        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • FeedForward: Feedforward to apply in volts. This is added to the output of the onboard feedforward terms.
        • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DynamicMotionMagicExpoDutyCycle request)
      Requests Motion Magic® Expo to target a final position using an exponential motion profile. This dynamic request allows runtime changes to the profile kV, kA, and (optional) Cruise Velocity. Users can optionally provide a duty cycle feedforward.

      Motion Magic® Expo produces a motion profile in real-time while attempting to honor the specified Cruise Velocity (optional) and the mechanism kV and kA. Note that unlike the slot gains, the Expo_kV and Expo_kA parameters are always in output units of Volts.

      Setting the Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

      Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

      • DynamicMotionMagicExpoDutyCycle Parameters:
        • Position: Position to drive toward in rotations.
        • kV: Mechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.

          This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.

        • kA: Mechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².

          This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.

        • Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Setting this to 0 will allow the profile to run to the max possible velocity based on Expo_kV.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • FeedForward: Feedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
        • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(DynamicMotionMagicExpoVoltage request)
      Requests Motion Magic® Expo to target a final position using an exponential motion profile. This dynamic request allows runtime changes to the profile kV, kA, and (optional) Cruise Velocity. Users can optionally provide a voltage feedforward.

      Motion Magic® Expo produces a motion profile in real-time while attempting to honor the specified Cruise Velocity (optional) and the mechanism kV and kA. Note that unlike the slot gains, the Expo_kV and Expo_kA parameters are always in output units of Volts.

      Setting the Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

      Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

      • DynamicMotionMagicExpoVoltage Parameters:
        • Position: Position to drive toward in rotations.
        • kV: Mechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.

          This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.

        • kA: Mechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².

          This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.

        • Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Setting this to 0 will allow the profile to run to the max possible velocity based on Expo_kV.
        • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation.

          FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

        • FeedForward: Feedforward to apply in volts. This is added to the output of the onboard feedforward terms.
        • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
        • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
        • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
        • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

          This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

          The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

        • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

          This can be useful when calibrating the zero point of a mechanism such as an elevator.

          The software limit faults will still report the values of the software limits regardless of this parameter.

        • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

          This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_DutyCycleOut_Position request)
      Differential control with duty cycle average target and position difference target.
      • Diff_DutyCycleOut_Position Parameters:
        • AverageRequest: Average DutyCycleOut request of the mechanism.
        • DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_PositionDutyCycle_Position request)
      Differential control with position average target and position difference target using duty cycle control.
      • Diff_PositionDutyCycle_Position Parameters:
        • AverageRequest: Average PositionDutyCycle request of the mechanism.
        • DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VelocityDutyCycle_Position request)
      Differential control with velocity average target and position difference target using duty cycle control.
      • Diff_VelocityDutyCycle_Position Parameters:
        • AverageRequest: Average VelocityDutyCYcle request of the mechanism.
        • DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicDutyCycle_Position request)
      Differential control with Motion Magic® average target and position difference target using duty cycle control.
      • Diff_MotionMagicDutyCycle_Position Parameters:
        • AverageRequest: Average MotionMagicDutyCycle request of the mechanism.
        • DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicExpoDutyCycle_Position request)
      Differential control with Motion Magic® Expo average target and position difference target using duty cycle control.
      • Diff_MotionMagicExpoDutyCycle_Position Parameters:
        • AverageRequest: Average MotionMagicExpoDutyCycle request of the mechanism.
        • DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicVelocityDutyCycle_Position request)
      Differential control with Motion Magic® Velocity average target and position difference target using duty cycle control.
      • Diff_MotionMagicVelocityDutyCycle_Position Parameters:
        • AverageRequest: Average MotionMagicVelocityDutyCycle request of the mechanism.
        • DifferentialRequest: Differential PositionDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_DutyCycleOut_Velocity request)
      Differential control with duty cycle average target and velocity difference target.
      • Diff_DutyCycleOut_Velocity Parameters:
        • AverageRequest: Average DutyCycleOut request of the mechanism.
        • DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_PositionDutyCycle_Velocity request)
      Differential control with position average target and velocity difference target using duty cycle control.
      • Diff_PositionDutyCycle_Velocity Parameters:
        • AverageRequest: Average PositionDutyCycle request of the mechanism.
        • DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VelocityDutyCycle_Velocity request)
      Differential control with velocity average target and velocity difference target using duty cycle control.
      • Diff_VelocityDutyCycle_Velocity Parameters:
        • AverageRequest: Average VelocityDutyCycle request of the mechanism.
        • DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicDutyCycle_Velocity request)
      Differential control with Motion Magic® average target and velocity difference target using duty cycle control.
      • Diff_MotionMagicDutyCycle_Velocity Parameters:
        • AverageRequest: Average MotionMagicDutyCycle request of the mechanism.
        • DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicExpoDutyCycle_Velocity request)
      Differential control with Motion Magic® Expo average target and velocity difference target using duty cycle control.
      • Diff_MotionMagicExpoDutyCycle_Velocity Parameters:
        • AverageRequest: Average MotionMagicExpoDutyCycle request of the mechanism.
        • DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicVelocityDutyCycle_Velocity request)
      Differential control with Motion Magic® Velocity average target and velocity difference target using duty cycle control.
      • Diff_MotionMagicVelocityDutyCycle_Velocity Parameters:
        • AverageRequest: Average MotionMagicVelocityDutyCycle request of the mechanism.
        • DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_DutyCycleOut_Open request)
      Differential control with duty cycle average target and duty cycle difference target.
      • Diff_DutyCycleOut_Open Parameters:
        • AverageRequest: Average DutyCycleOut request of the mechanism.
        • DifferentialRequest: Differential DutyCycleOut request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_PositionDutyCycle_Open request)
      Differential control with position average target and duty cycle difference target.
      • Diff_PositionDutyCycle_Open Parameters:
        • AverageRequest: Average PositionDutyCycle request of the mechanism.
        • DifferentialRequest: Differential DutyCycleOut request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VelocityDutyCycle_Open request)
      Differential control with velocity average target and duty cycle difference target.
      • Diff_VelocityDutyCycle_Open Parameters:
        • AverageRequest: Average VelocityDutyCYcle request of the mechanism.
        • DifferentialRequest: Differential DutyCycleOut request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicDutyCycle_Open request)
      Differential control with Motion Magic® average target and duty cycle difference target.
      • Diff_MotionMagicDutyCycle_Open Parameters:
        • AverageRequest: Average MotionMagicDutyCycle request of the mechanism.
        • DifferentialRequest: Differential DutyCycleOut request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicExpoDutyCycle_Open request)
      Differential control with Motion Magic® Expo average target and duty cycle difference target.
      • Diff_MotionMagicExpoDutyCycle_Open Parameters:
        • AverageRequest: Average MotionMagicExpoDutyCycle request of the mechanism.
        • DifferentialRequest: Differential DutyCycleOut request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicVelocityDutyCycle_Open request)
      Differential control with Motion Magic® Velocity average target and duty cycle difference target.
      • Diff_MotionMagicVelocityDutyCycle_Open Parameters:
        • AverageRequest: Average MotionMagicVelocityDutyCycle request of the mechanism.
        • DifferentialRequest: Differential DutyCycleOut request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VoltageOut_Position request)
      Differential control with voltage average target and position difference target.
      • Diff_VoltageOut_Position Parameters:
        • AverageRequest: Average VoltageOut request of the mechanism.
        • DifferentialRequest: Differential PositionVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_PositionVoltage_Position request)
      Differential control with position average target and position difference target using voltage control.
      • Diff_PositionVoltage_Position Parameters:
        • AverageRequest: Average PositionVoltage request of the mechanism.
        • DifferentialRequest: Differential PositionVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VelocityVoltage_Position request)
      Differential control with velocity average target and position difference target using voltage control.
      • Diff_VelocityVoltage_Position Parameters:
        • AverageRequest: Average VelocityVoltage request of the mechanism.
        • DifferentialRequest: Differential PositionVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicVoltage_Position request)
      Differential control with Motion Magic® average target and position difference target using voltage control.
      • Diff_MotionMagicVoltage_Position Parameters:
        • AverageRequest: Average MotionMagicVoltage request of the mechanism.
        • DifferentialRequest: Differential PositionVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicExpoVoltage_Position request)
      Differential control with Motion Magic® Expo average target and position difference target using voltage control.
      • Diff_MotionMagicExpoVoltage_Position Parameters:
        • AverageRequest: Average MotionMagicExpoVoltage request of the mechanism.
        • DifferentialRequest: Differential PositionVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicVelocityVoltage_Position request)
      Differential control with Motion Magic® Velocity average target and position difference target using voltage control.
      • Diff_MotionMagicVelocityVoltage_Position Parameters:
        • AverageRequest: Average MotionMagicVelocityVoltage request of the mechanism.
        • DifferentialRequest: Differential PositionVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VoltageOut_Velocity request)
      Differential control with voltage average target and velocity difference target.
      • Diff_VoltageOut_Velocity Parameters:
        • AverageRequest: Average VoltageOut request of the mechanism.
        • DifferentialRequest: Differential VelocityVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_PositionVoltage_Velocity request)
      Differential control with position average target and velocity difference target using voltage control.
      • Diff_PositionVoltage_Velocity Parameters:
        • AverageRequest: Average PositionVoltage request of the mechanism.
        • DifferentialRequest: Differential VelocityVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VelocityVoltage_Velocity request)
      Differential control with velocity average target and velocity difference target using voltage control.
      • Diff_VelocityVoltage_Velocity Parameters:
        • AverageRequest: Average VelocityVoltage request of the mechanism.
        • DifferentialRequest: Differential VelocityVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicVoltage_Velocity request)
      Differential control with Motion Magic® average target and velocity difference target using voltage control.
      • Diff_MotionMagicVoltage_Velocity Parameters:
        • AverageRequest: Average MotionMagicVoltage request of the mechanism.
        • DifferentialRequest: Differential VelocityVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicExpoVoltage_Velocity request)
      Differential control with Motion Magic® Expo average target and velocity difference target using voltage control.
      • Diff_MotionMagicExpoVoltage_Velocity Parameters:
        • AverageRequest: Average MotionMagicExpoVoltage request of the mechanism.
        • DifferentialRequest: Differential VelocityVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicVelocityVoltage_Velocity request)
      Differential control with Motion Magic® Velocity average target and velocity difference target using voltage control.
      • Diff_MotionMagicVelocityVoltage_Velocity Parameters:
        • AverageRequest: Average MotionMagicVelocityVoltage request of the mechanism.
        • DifferentialRequest: Differential VelocityVoltage request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VoltageOut_Open request)
      Differential control with voltage average target and voltage difference target.
      • Diff_VoltageOut_Open Parameters:
        • AverageRequest: Average VoltageOut request of the mechanism.
        • DifferentialRequest: Differential VoltageOut request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_PositionVoltage_Open request)
      Differential control with position average target and voltage difference target.
      • Diff_PositionVoltage_Open Parameters:
        • AverageRequest: Average PositionVoltage request of the mechanism.
        • DifferentialRequest: Differential VoltageOut request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VelocityVoltage_Open request)
      Differential control with velocity average target and voltage difference target.
      • Diff_VelocityVoltage_Open Parameters:
        • AverageRequest: Average VelocityVoltage request of the mechanism.
        • DifferentialRequest: Differential VoltageOut request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicVoltage_Open request)
      Differential control with Motion Magic® average target and voltage difference target.
      • Diff_MotionMagicVoltage_Open Parameters:
        • AverageRequest: Average MotionMagicVoltage request of the mechanism.
        • DifferentialRequest: Differential VoltageOut request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicExpoVoltage_Open request)
      Differential control with Motion Magic® Expo average target and voltage difference target.
      • Diff_MotionMagicExpoVoltage_Open Parameters:
        • AverageRequest: Average MotionMagicExpoVoltage request of the mechanism.
        • DifferentialRequest: Differential VoltageOut request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicVelocityVoltage_Open request)
      Differential control with Motion Magic® Velocity average target and voltage difference target.
      • Diff_MotionMagicVelocityVoltage_Open Parameters:
        • AverageRequest: Average MotionMagicVelocityVoltage request of the mechanism.
        • DifferentialRequest: Differential VoltageOut request of the mechanism.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(EmptyControl request)
      Apply a generic empty control used to do nothing.
      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setControl

      public final StatusCode setControl(ControlRequest request)
      Control device with generic control request object.

      User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the NotSupported StatusCode

      Specified by:
      setControl in interface HasTalonControls
      Parameters:
      request - Control object to request of the device
      Returns:
      Status code of the request

    • setPosition

      public final StatusCode setPosition(double newValue)
      Sets the mechanism position of the device in mechanism rotations.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      setPosition in interface HasTalonSignals
      Parameters:
      newValue - Value to set to. Units are in rotations.
      Returns:
      StatusCode of the set command

    • setPosition

      public final StatusCode setPosition(double newValue, double timeoutSeconds)
      Sets the mechanism position of the device in mechanism rotations.
      Specified by:
      setPosition in interface HasTalonSignals
      Parameters:
      newValue - Value to set to. Units are in rotations.
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • setPosition

      public final StatusCode setPosition(Angle newValue)
      Sets the mechanism position of the device in mechanism rotations.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      setPosition in interface HasTalonSignals
      Parameters:
      newValue - Value to set to. Units are in rotations.
      Returns:
      StatusCode of the set command

    • setPosition

      public final StatusCode setPosition(Angle newValue, double timeoutSeconds)
      Sets the mechanism position of the device in mechanism rotations.
      Specified by:
      setPosition in interface HasTalonSignals
      Parameters:
      newValue - Value to set to. Units are in rotations.
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFaults

      public final StatusCode clearStickyFaults()
      Clear the sticky faults in the device.

      This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFaults in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFaults

      public final StatusCode clearStickyFaults(double timeoutSeconds)
      Clear the sticky faults in the device.

      This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.

      Specified by:
      clearStickyFaults in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_Hardware

      public final StatusCode clearStickyFault_Hardware()
      Clear sticky fault: Hardware fault occurred

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_Hardware in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_Hardware

      public final StatusCode clearStickyFault_Hardware(double timeoutSeconds)
      Clear sticky fault: Hardware fault occurred
      Specified by:
      clearStickyFault_Hardware in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_ProcTemp

      public final StatusCode clearStickyFault_ProcTemp()
      Clear sticky fault: Processor temperature exceeded limit

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_ProcTemp in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_ProcTemp

      public final StatusCode clearStickyFault_ProcTemp(double timeoutSeconds)
      Clear sticky fault: Processor temperature exceeded limit
      Specified by:
      clearStickyFault_ProcTemp in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_DeviceTemp

      public final StatusCode clearStickyFault_DeviceTemp()
      Clear sticky fault: Device temperature exceeded limit

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_DeviceTemp in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_DeviceTemp

      public final StatusCode clearStickyFault_DeviceTemp(double timeoutSeconds)
      Clear sticky fault: Device temperature exceeded limit
      Specified by:
      clearStickyFault_DeviceTemp in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_Undervoltage

      public final StatusCode clearStickyFault_Undervoltage()
      Clear sticky fault: Device supply voltage dropped to near brownout levels

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_Undervoltage in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_Undervoltage

      public final StatusCode clearStickyFault_Undervoltage(double timeoutSeconds)
      Clear sticky fault: Device supply voltage dropped to near brownout levels
      Specified by:
      clearStickyFault_Undervoltage in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_BootDuringEnable

      public final StatusCode clearStickyFault_BootDuringEnable()
      Clear sticky fault: Device boot while detecting the enable signal

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_BootDuringEnable in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_BootDuringEnable

      public final StatusCode clearStickyFault_BootDuringEnable(double timeoutSeconds)
      Clear sticky fault: Device boot while detecting the enable signal
      Specified by:
      clearStickyFault_BootDuringEnable in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_UnlicensedFeatureInUse

      public final StatusCode clearStickyFault_UnlicensedFeatureInUse()
      Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_UnlicensedFeatureInUse in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_UnlicensedFeatureInUse

      public final StatusCode clearStickyFault_UnlicensedFeatureInUse(double timeoutSeconds)
      Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
      Specified by:
      clearStickyFault_UnlicensedFeatureInUse in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_BridgeBrownout

      public final StatusCode clearStickyFault_BridgeBrownout()
      Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_BridgeBrownout in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_BridgeBrownout

      public final StatusCode clearStickyFault_BridgeBrownout(double timeoutSeconds)
      Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.
      Specified by:
      clearStickyFault_BridgeBrownout in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_RemoteSensorReset

      public final StatusCode clearStickyFault_RemoteSensorReset()
      Clear sticky fault: The remote sensor has reset.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_RemoteSensorReset in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_RemoteSensorReset

      public final StatusCode clearStickyFault_RemoteSensorReset(double timeoutSeconds)
      Clear sticky fault: The remote sensor has reset.
      Specified by:
      clearStickyFault_RemoteSensorReset in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_MissingDifferentialFX

      public final StatusCode clearStickyFault_MissingDifferentialFX()
      Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_MissingDifferentialFX in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_MissingDifferentialFX

      public final StatusCode clearStickyFault_MissingDifferentialFX(double timeoutSeconds)
      Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus.
      Specified by:
      clearStickyFault_MissingDifferentialFX in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_RemoteSensorPosOverflow

      public final StatusCode clearStickyFault_RemoteSensorPosOverflow()
      Clear sticky fault: The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_RemoteSensorPosOverflow in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_RemoteSensorPosOverflow

      public final StatusCode clearStickyFault_RemoteSensorPosOverflow(double timeoutSeconds)
      Clear sticky fault: The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.
      Specified by:
      clearStickyFault_RemoteSensorPosOverflow in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_OverSupplyV

      public final StatusCode clearStickyFault_OverSupplyV()
      Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_OverSupplyV in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_OverSupplyV

      public final StatusCode clearStickyFault_OverSupplyV(double timeoutSeconds)
      Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.
      Specified by:
      clearStickyFault_OverSupplyV in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_UnstableSupplyV

      public final StatusCode clearStickyFault_UnstableSupplyV()
      Clear sticky fault: Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_UnstableSupplyV in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_UnstableSupplyV

      public final StatusCode clearStickyFault_UnstableSupplyV(double timeoutSeconds)
      Clear sticky fault: Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.
      Specified by:
      clearStickyFault_UnstableSupplyV in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_ReverseHardLimit

      public final StatusCode clearStickyFault_ReverseHardLimit()
      Clear sticky fault: Reverse limit switch has been asserted. Output is set to neutral.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_ReverseHardLimit in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_ReverseHardLimit

      public final StatusCode clearStickyFault_ReverseHardLimit(double timeoutSeconds)
      Clear sticky fault: Reverse limit switch has been asserted. Output is set to neutral.
      Specified by:
      clearStickyFault_ReverseHardLimit in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_ForwardHardLimit

      public final StatusCode clearStickyFault_ForwardHardLimit()
      Clear sticky fault: Forward limit switch has been asserted. Output is set to neutral.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_ForwardHardLimit in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_ForwardHardLimit

      public final StatusCode clearStickyFault_ForwardHardLimit(double timeoutSeconds)
      Clear sticky fault: Forward limit switch has been asserted. Output is set to neutral.
      Specified by:
      clearStickyFault_ForwardHardLimit in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_ReverseSoftLimit

      public final StatusCode clearStickyFault_ReverseSoftLimit()
      Clear sticky fault: Reverse soft limit has been asserted. Output is set to neutral.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_ReverseSoftLimit in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_ReverseSoftLimit

      public final StatusCode clearStickyFault_ReverseSoftLimit(double timeoutSeconds)
      Clear sticky fault: Reverse soft limit has been asserted. Output is set to neutral.
      Specified by:
      clearStickyFault_ReverseSoftLimit in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_ForwardSoftLimit

      public final StatusCode clearStickyFault_ForwardSoftLimit()
      Clear sticky fault: Forward soft limit has been asserted. Output is set to neutral.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_ForwardSoftLimit in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_ForwardSoftLimit

      public final StatusCode clearStickyFault_ForwardSoftLimit(double timeoutSeconds)
      Clear sticky fault: Forward soft limit has been asserted. Output is set to neutral.
      Specified by:
      clearStickyFault_ForwardSoftLimit in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_MissingSoftLimitRemote

      public final StatusCode clearStickyFault_MissingSoftLimitRemote()
      Clear sticky fault: The remote soft limit device is not present on CAN Bus.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_MissingSoftLimitRemote in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_MissingSoftLimitRemote

      public final StatusCode clearStickyFault_MissingSoftLimitRemote(double timeoutSeconds)
      Clear sticky fault: The remote soft limit device is not present on CAN Bus.
      Specified by:
      clearStickyFault_MissingSoftLimitRemote in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_MissingHardLimitRemote

      public final StatusCode clearStickyFault_MissingHardLimitRemote()
      Clear sticky fault: The remote limit switch device is not present on CAN Bus.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_MissingHardLimitRemote in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_MissingHardLimitRemote

      public final StatusCode clearStickyFault_MissingHardLimitRemote(double timeoutSeconds)
      Clear sticky fault: The remote limit switch device is not present on CAN Bus.
      Specified by:
      clearStickyFault_MissingHardLimitRemote in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_RemoteSensorDataInvalid

      public final StatusCode clearStickyFault_RemoteSensorDataInvalid()
      Clear sticky fault: The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_RemoteSensorDataInvalid in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_RemoteSensorDataInvalid

      public final StatusCode clearStickyFault_RemoteSensorDataInvalid(double timeoutSeconds)
      Clear sticky fault: The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.
      Specified by:
      clearStickyFault_RemoteSensorDataInvalid in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_FusedSensorOutOfSync

      public final StatusCode clearStickyFault_FusedSensorOutOfSync()
      Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_FusedSensorOutOfSync in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_FusedSensorOutOfSync

      public final StatusCode clearStickyFault_FusedSensorOutOfSync(double timeoutSeconds)
      Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.
      Specified by:
      clearStickyFault_FusedSensorOutOfSync in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_StatorCurrLimit

      public final StatusCode clearStickyFault_StatorCurrLimit()
      Clear sticky fault: Stator current limit occured.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_StatorCurrLimit in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_StatorCurrLimit

      public final StatusCode clearStickyFault_StatorCurrLimit(double timeoutSeconds)
      Clear sticky fault: Stator current limit occured.
      Specified by:
      clearStickyFault_StatorCurrLimit in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_SupplyCurrLimit

      public final StatusCode clearStickyFault_SupplyCurrLimit()
      Clear sticky fault: Supply current limit occured.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_SupplyCurrLimit in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_SupplyCurrLimit

      public final StatusCode clearStickyFault_SupplyCurrLimit(double timeoutSeconds)
      Clear sticky fault: Supply current limit occured.
      Specified by:
      clearStickyFault_SupplyCurrLimit in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_UsingFusedCANcoderWhileUnlicensed

      public final StatusCode clearStickyFault_UsingFusedCANcoderWhileUnlicensed()
      Clear sticky fault: Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_UsingFusedCANcoderWhileUnlicensed in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_UsingFusedCANcoderWhileUnlicensed

      public final StatusCode clearStickyFault_UsingFusedCANcoderWhileUnlicensed(double timeoutSeconds)
      Clear sticky fault: Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.
      Specified by:
      clearStickyFault_UsingFusedCANcoderWhileUnlicensed in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_StaticBrakeDisabled

      public final StatusCode clearStickyFault_StaticBrakeDisabled()
      Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disabled.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_StaticBrakeDisabled in interface HasTalonSignals
      Returns:
      StatusCode of the set command

    • clearStickyFault_StaticBrakeDisabled

      public final StatusCode clearStickyFault_StaticBrakeDisabled(double timeoutSeconds)
      Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disabled.
      Specified by:
      clearStickyFault_StaticBrakeDisabled in interface HasTalonSignals
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_BridgeShort

      public final StatusCode clearStickyFault_BridgeShort()
      Clear sticky fault: Bridge was disabled most likely due to a short in the motor leads.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_BridgeShort in interface HasExternalMotor
      Returns:
      StatusCode of the set command

    • clearStickyFault_BridgeShort

      public final StatusCode clearStickyFault_BridgeShort(double timeoutSeconds)
      Clear sticky fault: Bridge was disabled most likely due to a short in the motor leads.
      Specified by:
      clearStickyFault_BridgeShort in interface HasExternalMotor
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_HallSensorMissing

      public final StatusCode clearStickyFault_HallSensorMissing()
      Clear sticky fault: Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_HallSensorMissing in interface HasExternalMotor
      Returns:
      StatusCode of the set command

    • clearStickyFault_HallSensorMissing

      public final StatusCode clearStickyFault_HallSensorMissing(double timeoutSeconds)
      Clear sticky fault: Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.
      Specified by:
      clearStickyFault_HallSensorMissing in interface HasExternalMotor
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_DriveDisabledHallSensor

      public final StatusCode clearStickyFault_DriveDisabledHallSensor()
      Clear sticky fault: Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_DriveDisabledHallSensor in interface HasExternalMotor
      Returns:
      StatusCode of the set command

    • clearStickyFault_DriveDisabledHallSensor

      public final StatusCode clearStickyFault_DriveDisabledHallSensor(double timeoutSeconds)
      Clear sticky fault: Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.
      Specified by:
      clearStickyFault_DriveDisabledHallSensor in interface HasExternalMotor
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_MotorTempSensorMissing

      public final StatusCode clearStickyFault_MotorTempSensorMissing()
      Clear sticky fault: Motor temperature signal appears to not be connected.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_MotorTempSensorMissing in interface HasExternalMotor
      Returns:
      StatusCode of the set command

    • clearStickyFault_MotorTempSensorMissing

      public final StatusCode clearStickyFault_MotorTempSensorMissing(double timeoutSeconds)
      Clear sticky fault: Motor temperature signal appears to not be connected.
      Specified by:
      clearStickyFault_MotorTempSensorMissing in interface HasExternalMotor
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_MotorTempSensorTooHot

      public final StatusCode clearStickyFault_MotorTempSensorTooHot()
      Clear sticky fault: Motor temperature signal indicates motor is too hot.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_MotorTempSensorTooHot in interface HasExternalMotor
      Returns:
      StatusCode of the set command

    • clearStickyFault_MotorTempSensorTooHot

      public final StatusCode clearStickyFault_MotorTempSensorTooHot(double timeoutSeconds)
      Clear sticky fault: Motor temperature signal indicates motor is too hot.
      Specified by:
      clearStickyFault_MotorTempSensorTooHot in interface HasExternalMotor
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_MotorArrangementNotSelected

      public final StatusCode clearStickyFault_MotorArrangementNotSelected()
      Clear sticky fault: Motor arrangement has not been set in configuration.

      This will wait up to 0.100 seconds (100ms) by default.

      Specified by:
      clearStickyFault_MotorArrangementNotSelected in interface HasExternalMotor
      Returns:
      StatusCode of the set command

    • clearStickyFault_MotorArrangementNotSelected

      public final StatusCode clearStickyFault_MotorArrangementNotSelected(double timeoutSeconds)
      Clear sticky fault: Motor arrangement has not been set in configuration.
      Specified by:
      clearStickyFault_MotorArrangementNotSelected in interface HasExternalMotor
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • registerAlerts

      public void registerAlerts(AlertableCollection collection)
      Description copied from interface: PhoenixAlertable
      Registers all alerts for this type to the provided collection.

      When registering alerts, the provided alert IDs must be unique within the AlertableCollection. As a result, the IDs should generally contain information unique to this specific instance, such as device and signal name.

      Specified by:
      registerAlerts in interface PhoenixAlertable
      Overrides:
      registerAlerts in class ParentDevice
      Parameters:
      collection - Alertable collection into which the alerts are registered