Enum Class DifferentialSensorSourceValue

java.lang.Object

java.lang.Enum<DifferentialSensorSourceValue>

com.ctre.phoenix6.signals.DifferentialSensorSourceValue

All Implemented Interfaces:

Serializable, Comparable<DifferentialSensorSourceValue>, Constable

public enum DifferentialSensorSourceValue
extends Enum<DifferentialSensorSourceValue>

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

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

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

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

Nested Class Summary

Nested classes/interfaces inherited from class Enum

Enum.EnumDesc<E>

Enum Constant Summary

Enum Constants

Enum Constant	Description
Disabled	Disable differential control.
RemoteCANcoder	Use another CANcoder on the same CAN bus (this also requires setting DifferentialRemoteSensorID).
RemoteCANdiPWM1	Use a pulse-width encoder remotely attached to the Sensor Input 1 (S1IN) on the CTR Electronics' CANdi™ (this also requires setting the DifferentialRemoteSensorID).
RemoteCANdiPWM2	Use a pulse-width encoder remotely attached to the Sensor Input 2 (S2IN) on the CTR Electronics' CANdi™ (this also requires setting the DifferentialRemoteSensorID).
RemoteCANdiQuadrature	Use a quadrature encoder remotely attached to the two Sensor Inputs on the CTR Electronics' CANdi™ (this also requires setting the DifferentialRemoteSensorID).
RemotePigeon2Pitch	Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID).
RemotePigeon2Roll	Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID).
RemotePigeon2Yaw	Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID).
RemoteTalonFX_HalfDiff	Use another TalonFX on the same CAN bus.

Field Summary

Fields

Modifier and Type	Field	Description
final int	value	Unique integer value of this DifferentialSensorSourceValue.

Method Summary

Modifier and Type	Method	Description
static DifferentialSensorSourceValue	valueOf(int value)	Gets DifferentialSensorSourceValue from specified value
static DifferentialSensorSourceValue	valueOf(String name)	Returns the enum constant of this class with the specified name.
static DifferentialSensorSourceValue[]	values()	Returns an array containing the constants of this enum class, in the order they are declared.

Methods inherited from class Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

Disabled

public static final DifferentialSensorSourceValue Disabled

Disable differential control.

RemoteTalonFX_HalfDiff

public static final DifferentialSensorSourceValue RemoteTalonFX_HalfDiff

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

RemotePigeon2Yaw

public static final DifferentialSensorSourceValue RemotePigeon2Yaw

Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position to match the Pigeon2 yaw whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.

RemotePigeon2Pitch

public static final DifferentialSensorSourceValue RemotePigeon2Pitch

Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position to match the Pigeon2 pitch whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.

RemotePigeon2Roll

public static final DifferentialSensorSourceValue RemotePigeon2Roll

Use another Pigeon2 on the same CAN bus (this also requires setting DifferentialRemoteSensorID). Talon FX will update its differential position to match the Pigeon2 roll whenever Pigeon2 publishes its information on CAN bus. Note that the Talon FX differential position will be in rotations and not degrees.

RemoteCANcoder

public static final DifferentialSensorSourceValue RemoteCANcoder

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

RemoteCANdiPWM1

public static final DifferentialSensorSourceValue RemoteCANdiPWM1

Use a pulse-width encoder remotely attached to the Sensor Input 1 (S1IN) on the CTR Electronics' CANdi™ (this also requires setting the DifferentialRemoteSensorID). Talon FX will update its differential position and velocity to match the CTR Electronics' CANdi™ whenever the CTR Electronics' CANdi™ publishes its information on CAN bus.

RemoteCANdiPWM2

public static final DifferentialSensorSourceValue RemoteCANdiPWM2

Use a pulse-width encoder remotely attached to the Sensor Input 2 (S2IN) on the CTR Electronics' CANdi™ (this also requires setting the DifferentialRemoteSensorID). Talon FX will update its differential position and velocity to match the CTR Electronics' CANdi™ whenever the CTR Electronics' CANdi™ publishes its information on CAN bus.

RemoteCANdiQuadrature

public static final DifferentialSensorSourceValue RemoteCANdiQuadrature

Use a quadrature encoder remotely attached to the two Sensor Inputs on the CTR Electronics' CANdi™ (this also requires setting the DifferentialRemoteSensorID). Talon FX will update its differential position and velocity to match the CTR Electronics' CANdi™ whenever the CTR Electronics' CANdi™ publishes its information on CAN bus.

Field Details

value

public final int value

Unique integer value of this DifferentialSensorSourceValue.

Method Details

values

public static DifferentialSensorSourceValue[] values()

Returns an array containing the constants of this enum class, in the order they are declared.

Returns:

an array containing the constants of this enum class, in the order they are declared

valueOf

public static DifferentialSensorSourceValue valueOf(String name)

Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum class has no constant with the specified name

NullPointerException - if the argument is null

valueOf

public static DifferentialSensorSourceValue valueOf(int value)

Gets DifferentialSensorSourceValue from specified value

Parameters:

value - Value of DifferentialSensorSourceValue

Returns:

DifferentialSensorSourceValue of specified value