Package com.ctre.phoenix.motorcontrol

Class TalonFXSensorCollection

java.lang.Object
com.ctre.phoenix.motorcontrol.TalonFXSensorCollection
public class TalonFXSensorCollection extends Object
Collection of sensors available to the Talon FX.

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 getTalonFXSensorCollection() routine inside your motor controller to create a sensor collection.

  • Constructor Details

    • TalonFXSensorCollection

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

  • Method Details

    • getIntegratedSensorPosition

      public double getIntegratedSensorPosition()
      Get the IntegratedSensor position of the Talon FX, regardless of whether it is actually being used for feedback. The units are 2048 per rotation. Note : Future versions of software may support scaling features (rotations, radians, degrees, etc) depending on the configuration.

      This method relies on the Status 21 message, which has a default period of 240ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

      Returns:
      the IntegratedSensor position.

    • getIntegratedSensorAbsolutePosition

      public double getIntegratedSensorAbsolutePosition()
      Get the IntegratedSensor absolute position of the Talon FX, regardless of whether it is actually being used for feedback. This will be within one rotation (2048 units). The signage and range will depend on the configuration. Note : Future versions of software may support scaling features (rotations, radians, degrees, etc) depending on the configuration.

      This method relies on the Status 21 message, which has a default period of 240ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

      Returns:
      the IntegratedSensor absolute position.

    • getIntegratedSensorVelocity

      public double getIntegratedSensorVelocity()
      Get the IntegratedSensor velocity of the Talon FX, regardless of whether it is actually being used for feedback. One unit represents one position unit per 100ms (2048 position units per 100ms). The signage and range will depend on the configuration. Note : Future versions of software may support scaling features (rotations, radians, degrees, etc) depending on the configuration.

      This method relies on the Status 21 message, which has a default period of 240ms. For more information, see: https://phoenix-documentation.readthedocs.io/en/latest/ch18_CommonAPI.html

      Returns:
      the IntegratedSensor velocity.

    • setIntegratedSensorPosition

      public ErrorCode setIntegratedSensorPosition(double newPosition, int timeoutMs)
      Set the IntegratedSensor reported position. Typically this is used to "zero" the sensor. This only works with IntegratedSensor. 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.

    • setIntegratedSensorPositionToAbsolute

      public ErrorCode setIntegratedSensorPositionToAbsolute(int timeoutMs)
      Set the IntegratedSensor reported position based on the absolute position. This can also be done automatically on power boot depending on configuration.
      Parameters:
      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.

    • isFwdLimitSwitchClosed

      public int 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 int 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.