Package com.ctre.phoenix.motorcontrol

Class SensorCollection

java.lang.Object
com.ctre.phoenix.motorcontrol.SensorCollection
public class SensorCollection extends Object
Collection of sensors available to a motor controller. For best performance and update-rate, we recommend using the configSelectedFeedbackSensor() and getSelectedSensor*() routines. However there are occasions where accessing raw sensor values may be useful or convenient. Particularly if you are seeding one sensor based on another, or need to circumvent sensor-phase. Use the getSensorCollection() routine inside your motor controller to create a sensor collection.

  • Constructor Details

    • SensorCollection

      public SensorCollection(BaseTalon motorController)
      Constructor for SensorCollection
      Parameters:
      motorController - Motor Controller to connect Collection to

  • Method Details

    • getAnalogIn

      public int getAnalogIn()
      Get the position of whatever is in the analog pin of the Talon, regardless of whether it is actually being used for feedback.

      This method relies on the Status 4 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

      Returns:
      the 24bit analog value. The bottom ten bits is the ADC (0 - 1023) on the analog pin of the Talon. The upper 14 bits tracks the overflows and underflows (continuous sensor).

    • setAnalogPosition

      public ErrorCode setAnalogPosition(int newPosition, int timeoutMs)
      Sets analog position.
      Parameters:
      newPosition - The new position.
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      an ErrorCode.

    • getAnalogInRaw

      public int getAnalogInRaw()
      Get the position of whatever is in the analog pin of the Talon, regardless of whether it is actually being used for feedback.

      This method relies on the Status 4 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

      Returns:
      the ADC (0 - 1023) on analog pin of the Talon.

    • getAnalogInVel

      public int getAnalogInVel()
      Get the velocity of whatever is in the analog pin of the Talon, regardless of whether it is actually being used for feedback.

      This method relies on the Status 4 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

      Returns:
      the speed in units per 100ms where 1024 units is one rotation.

    • getQuadraturePosition

      public int getQuadraturePosition()
      Get the quadrature position of the Talon, regardless of whether it is actually being used for feedback.

      This method relies on the Status 3 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

      Returns:
      the quadrature position.

    • setQuadraturePosition

      public ErrorCode setQuadraturePosition(int newPosition, int timeoutMs)
      Change the quadrature reported position. Typically this is used to "zero" the sensor. This only works with Quadrature sensor. To set the selected sensor position regardless of what type it is, see SetSelectedSensorPosition in the motor controller class.
      Parameters:
      newPosition - The position value to apply to the sensor.
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      error code.

    • syncQuadratureWithPulseWidth

      public ErrorCode syncQuadratureWithPulseWidth(int bookend0, int bookend1, boolean bCrossZeroOnInterval, int offset, int timeoutMs)
      Change the quadrature reported position based on pulse width. This can be used to effectively make quadrature absolute. For rotary mechanisms with >360 movement (such as typical swerve modules) bookend0 and bookend1 can be both set to 0 and bCrossZeroOnInterval can be set to true. For mechanisms with less than 360 travel (such as arms), bookend0 and bookend1 should be set to the pulse width values at the two extremes. If the interval crosses over the pulse width value of 0 (or any multiple of 4096), bCrossZeroOnInterval should be true and otherwise should be false. An offset can also be set.
      Parameters:
      bookend0 - value at extreme 0
      bookend1 - value at extreme 1
      bCrossZeroOnInterval - True iff zero/wrap-around cross occurs as mechanism moves from bookend0 to bookend1.
      offset - (Optional) Value to add to pulse width
      timeoutMs - (Optional) How long to wait for confirmation. Pass zero so that call does not block.
      Returns:
      error code.

    • syncQuadratureWithPulseWidth

      public ErrorCode syncQuadratureWithPulseWidth(int bookend0, int bookend1, boolean bCrossZeroOnInterval)
      Change the quadrature reported position based on pulse width. This can be used to effectively make quadrature absolute. For rotary mechanisms with >360 movement (such as typical swerve modules) bookend0 and bookend1 can be both set to 0 and bCrossZeroOnInterval can be set to true. For mechanisms with less than 360 travel (such as arms), bookend0 and bookend1 should be set to the pulse width values at the two extremes. If the interval crosses over the pulse width value of 0 (or any multiple of 4096), bCrossZeroOnInterval should be true and otherwise should be false. An offset can also be set.
      Parameters:
      bookend0 - value at extreme 0
      bookend1 - value at extreme 1
      bCrossZeroOnInterval - True iff zero/wrap-around cross occurs as mechanism moves from bookend0 to bookend1.
      Returns:
      error code.

    • getQuadratureVelocity

      public int getQuadratureVelocity()
      Get the quadrature velocity, regardless of whether it is actually being used for feedback.

      This method relies on the Status 3 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

      Returns:
      the quadrature velocity in units per 100ms.

    • getPulseWidthPosition

      public int getPulseWidthPosition()
      Gets pulse width position, regardless of whether it is actually being used for feedback.

      This method relies on the Status 8 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

      Returns:
      the pulse width position.

    • setPulseWidthPosition

      public ErrorCode setPulseWidthPosition(int newPosition, int timeoutMs)
      Sets pulse width position.
      Parameters:
      newPosition - The position value to apply to the sensor.
      timeoutMs - Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.
      Returns:
      an ErrErrorCode

    • getPulseWidthVelocity

      public int getPulseWidthVelocity()
      Gets pulse width velocity, regardless of whether it is actually being used for feedback.

      This method relies on the Status 8 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

      Returns:
      the pulse width velocity in units per 100ms (where 4096 units is 1 rotation).

    • getPulseWidthRiseToFallUs

      public int getPulseWidthRiseToFallUs()
      Gets pulse width rise to fall time.

      This method relies on the Status 8 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

      Returns:
      the pulse width rise to fall time in microseconds.

    • getPulseWidthRiseToRiseUs

      public int getPulseWidthRiseToRiseUs()
      Gets pulse width rise to rise time.

      This method relies on the Status 8 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

      Returns:
      the pulse width rise to rise time in microseconds.

    • getPinStateQuadA

      public boolean getPinStateQuadA()
      Gets pin state quad a.

      This method relies on the Status 3 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

      Returns:
      the pin state of quad a (1 if asserted, 0 if not asserted).

    • getPinStateQuadB

      public boolean getPinStateQuadB()
      Gets pin state quad b.

      This method relies on the Status 3 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

      Returns:
      Digital level of QUADB pin (1 if asserted, 0 if not asserted).

    • getPinStateQuadIdx

      public boolean getPinStateQuadIdx()
      Gets pin state quad index.

      This method relies on the Status 3 message, which has a default period of 150ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

      Returns:
      Digital level of QUAD Index pin (1 if asserted, 0 if not asserted).

    • isFwdLimitSwitchClosed

      public boolean isFwdLimitSwitchClosed()
      Is forward limit switch closed.

      This method relies on the Status 1 message, which has a default period of 10ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

      Returns:
      '1' iff forward limit switch is closed, 0 iff switch is open. This function works regardless if limit switch feature is enabled. Remote limit features do not impact this routine.

    • isRevLimitSwitchClosed

      public boolean isRevLimitSwitchClosed()
      Is reverse limit switch closed.

      This method relies on the Status 1 message, which has a default period of 10ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

      Returns:
      '1' iff reverse limit switch is closed, 0 iff switch is open. This function works regardless if limit switch feature is enabled. Remote limit features do not impact this routine.