Enum Class ExternalFeedbackSensorSourceValue

java.lang.Object
java.lang.Enum<ExternalFeedbackSensorSourceValue>
com.ctre.phoenix6.signals.ExternalFeedbackSensorSourceValue
All Implemented Interfaces:
Serializable, Comparable<ExternalFeedbackSensorSourceValue>, Constable
public enum ExternalFeedbackSensorSourceValue extends Enum<ExternalFeedbackSensorSourceValue>
Choose what sensor source is reported via API and used by closed-loop and limit features. The default is Commutation, which uses the external sensor used for motor commutation.

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

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

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

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

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

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

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

  • Nested Class Summary

    Nested classes/interfaces inherited from class Enum

    Enum.EnumDesc<E>

  • Enum Constant Summary

    Enum Constants
    Enum Constant
    Description
    Commutation
    Use the external sensor used for motor commutation.
    FusedCANcoder
    Requires Phoenix Pro; Talon will fuse another CANcoder's information with the commutation sensor, which provides the best possible position and velocity for accuracy and bandwidth (this also requires setting FeedbackRemoteSensorID).
    FusedCANdiPWM1
    Requires Phoenix Pro; Talon will fuse a pulse-width encoder remotely attached to the Sensor Input 1 (S1IN) on CANdi™, which provides the best possible position and velocity for accuracy and bandwidth (this also requires setting FeedbackRemoteSensorID).
    FusedCANdiPWM2
    Requires Phoenix Pro; Talon will fuse a pulse-width encoder remotely attached to the Sensor Input 2 (S2IN) on CANdi™, which provides the best possible position and velocity for accuracy and bandwidth (this also requires setting FeedbackRemoteSensorID).
    FusedCANdiQuadrature
    Requires Phoenix Pro; Talon will fuse a qaudrature encoder remotely attached to the two Sensor Inputs on CANdi™.
    PulseWidth
    Use a pulse-width encoder directly attached to the Talon data port.
    Quadrature
    Use a quadrature encoder directly attached to the Talon data port.
    RemoteCANcoder
    Use another CANcoder on the same CAN bus (this also requires setting FeedbackRemoteSensorID).
    RemoteCANdiPWM1
    Use a pulse-width encoder remotely attached to the Sensor Input 1 (S1IN) on CANdi™ (this also requires setting FeedbackRemoteSensorID).
    RemoteCANdiPWM2
    Use a pulse-width encoder remotely attached to the Sensor Input 2 (S2IN) on CANdi™ (this also requires setting FeedbackRemoteSensorID).
    RemoteCANdiQuadrature
    Use a quadrature encoder remotely attached to the two Sensor Inputs on CANdi™ (this also requires setting FeedbackRemoteSensorID).
    RemotePigeon2Pitch
    Use another Pigeon2 on the same CAN bus (this also requires setting FeedbackRemoteSensorID).
    RemotePigeon2Roll
    Use another Pigeon2 on the same CAN bus (this also requires setting FeedbackRemoteSensorID).
    RemotePigeon2Yaw
    Use another Pigeon2 on the same CAN bus (this also requires setting FeedbackRemoteSensorID).
    SyncCANcoder
    Requires Phoenix Pro; Talon will synchronize its commutation sensor position against another CANcoder, then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID).
    SyncCANdiPWM1
    Requires Phoenix Pro; Talon will synchronize its internal rotor position against the pulse-width encoder attached to Sensor Input 1 (S1IN), then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID).
    SyncCANdiPWM2
    Requires Phoenix Pro; Talon will synchronize its internal rotor position against the pulse-width encoder attached to Sensor Input 1 (S1IN), then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID).

  • Field Summary

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

  • Method Summary

    Modifier and Type
    Method
    Description
    static ExternalFeedbackSensorSourceValue
    valueOf(int value)
    Gets ExternalFeedbackSensorSourceValue from specified value
    static ExternalFeedbackSensorSourceValue
    valueOf(String name)
    Returns the enum constant of this class with the specified name.
    static ExternalFeedbackSensorSourceValue[]
    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

    • Commutation

      public static final ExternalFeedbackSensorSourceValue Commutation
      Use the external sensor used for motor commutation.

    • RemoteCANcoder

      public static final ExternalFeedbackSensorSourceValue RemoteCANcoder
      Use another CANcoder on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position and velocity whenever CANcoder publishes its information on CAN bus, and the Talon commutation sensor will not be used.

    • RemotePigeon2Yaw

      public static final ExternalFeedbackSensorSourceValue RemotePigeon2Yaw
      Use another Pigeon2 on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position to match the Pigeon2 yaw whenever Pigeon2 publishes its information on CAN bus. Note that the Talon position will be in rotations and not degrees.

    • RemotePigeon2Pitch

      public static final ExternalFeedbackSensorSourceValue RemotePigeon2Pitch
      Use another Pigeon2 on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position to match the Pigeon2 pitch whenever Pigeon2 publishes its information on CAN bus. Note that the Talon position will be in rotations and not degrees.

    • RemotePigeon2Roll

      public static final ExternalFeedbackSensorSourceValue RemotePigeon2Roll
      Use another Pigeon2 on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position to match the Pigeon2 roll whenever Pigeon2 publishes its information on CAN bus. Note that the Talon position will be in rotations and not degrees.

    • FusedCANcoder

      public static final ExternalFeedbackSensorSourceValue FusedCANcoder
      Requires Phoenix Pro; Talon will fuse another CANcoder's information with the commutation sensor, which provides the best possible position and velocity for accuracy and bandwidth (this also requires setting FeedbackRemoteSensorID). FusedCANcoder was developed for applications such as swerve-azimuth.

    • SyncCANcoder

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

    • Quadrature

      public static final ExternalFeedbackSensorSourceValue Quadrature
      Use a quadrature encoder directly attached to the Talon data port. This provides velocity and relative position measurements.

    • PulseWidth

      public static final ExternalFeedbackSensorSourceValue PulseWidth
      Use a pulse-width encoder directly attached to the Talon data port. This provides velocity and absolute position measurements.

    • RemoteCANdiPWM1

      public static final ExternalFeedbackSensorSourceValue RemoteCANdiPWM1
      Use a pulse-width encoder remotely attached to the Sensor Input 1 (S1IN) on CANdi™ (this also requires setting FeedbackRemoteSensorID). Talon will update its position and velocity whenever CANdi™ publishes its information on CAN bus, and the Talon internal rotor will not be used.

    • RemoteCANdiPWM2

      public static final ExternalFeedbackSensorSourceValue RemoteCANdiPWM2
      Use a pulse-width encoder remotely attached to the Sensor Input 2 (S2IN) on CANdi™ (this also requires setting FeedbackRemoteSensorID). Talon will update its position and velocity whenever CANdi™ publishes its information on CAN bus, and the Talon internal rotor will not be used.

    • RemoteCANdiQuadrature

      public static final ExternalFeedbackSensorSourceValue RemoteCANdiQuadrature
      Use a quadrature encoder remotely attached to the two Sensor Inputs on CANdi™ (this also requires setting FeedbackRemoteSensorID). Talon will update its position and velocity whenever CANdi™ publishes its information on CAN bus, and the Talon internal rotor will not be used.

    • FusedCANdiPWM1

      public static final ExternalFeedbackSensorSourceValue FusedCANdiPWM1
      Requires Phoenix Pro; Talon will fuse a pulse-width encoder remotely attached to the Sensor Input 1 (S1IN) on CANdi™, which provides the best possible position and velocity for accuracy and bandwidth (this also requires setting FeedbackRemoteSensorID). FusedCANdi was developed for applications such as swerve-azimuth.

    • FusedCANdiPWM2

      public static final ExternalFeedbackSensorSourceValue FusedCANdiPWM2
      Requires Phoenix Pro; Talon will fuse a pulse-width encoder remotely attached to the Sensor Input 2 (S2IN) on CANdi™, which provides the best possible position and velocity for accuracy and bandwidth (this also requires setting FeedbackRemoteSensorID). FusedCANdi was developed for applications such as swerve-azimuth.

    • FusedCANdiQuadrature

      public static final ExternalFeedbackSensorSourceValue FusedCANdiQuadrature
      Requires Phoenix Pro; Talon will fuse a qaudrature encoder remotely attached to the two Sensor Inputs on CANdi™. This provides velocity and relative position measurements. This also requires setting FeedbackRemoteSensorID.

    • SyncCANdiPWM1

      public static final ExternalFeedbackSensorSourceValue SyncCANdiPWM1
      Requires Phoenix Pro; Talon will synchronize its internal rotor position against the pulse-width encoder attached to Sensor Input 1 (S1IN), then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID). The Talon will report if its internal position differs significantly from the reported PWM position. SyncCANdi was developed for mechanisms where there is a risk of the CTR Electronics' CANdi™ failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

    • SyncCANdiPWM2

      public static final ExternalFeedbackSensorSourceValue SyncCANdiPWM2
      Requires Phoenix Pro; Talon will synchronize its internal rotor position against the pulse-width encoder attached to Sensor Input 1 (S1IN), then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID). The Talon will report if its internal position differs significantly from the reported PWM position. SyncCANdi was developed for mechanisms where there is a risk of the CTR Electronics' CANdi™ failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

  • Field Details

    • value

      public final int value
      Unique integer value of this ExternalFeedbackSensorSourceValue.

  • Method Details

    • values

      public static ExternalFeedbackSensorSourceValue[] 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 ExternalFeedbackSensorSourceValue 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 ExternalFeedbackSensorSourceValue valueOf(int value)
      Gets ExternalFeedbackSensorSourceValue from specified value
      Parameters:
      value - Value of ExternalFeedbackSensorSourceValue
      Returns:
      ExternalFeedbackSensorSourceValue of specified value