Package com.ctre.phoenix.motorcontrol.can

Class TalonFXConfiguration

java.lang.Object
com.ctre.phoenix.CustomParamConfiguration
com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration
com.ctre.phoenix.motorcontrol.can.BaseTalonConfiguration
com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration
public class TalonFXConfiguration extends BaseTalonConfiguration
Configurables available to TalonFX

  • Field Details

    • supplyCurrLimit

      public SupplyCurrentLimitConfiguration supplyCurrLimit
      Supply-side current limiting. This is typically used to prevent breakers from tripping.

    • statorCurrLimit

      public StatorCurrentLimitConfiguration statorCurrLimit
      Stator-side current limiting. This is typically used to limit acceleration/torque and heat generation.

    • motorCommutation

      public MotorCommutation motorCommutation
      Choose the type of motor commutation.

    • absoluteSensorRange

      public AbsoluteSensorRange absoluteSensorRange
      Desired Sign / Range for the absolute position register. Choose unsigned for an absolute range of[0, +1) rotations, [0, 360) deg, etc. Choose signed for an absolute range of[-0.5, +0.5) rotations, [-180, +180) deg, etc.

    • integratedSensorOffsetDegrees

      public double integratedSensorOffsetDegrees
      Adjusts the zero point for the absolute position register. The absolute position of the sensor will always have a discontinuity (360 -> 0 deg) or (+180 -> -180) and a hard-limited mechanism may have such a discontinuity in its functional range. In which case use this config to move the discontinuity outside of the function range.

    • initializationStrategy

      public SensorInitializationStrategy initializationStrategy
      The sensor initialization strategy to use.This will impact the behavior the next time device boots up. Pick the strategy on how to initialize the "Position" register. Depending on the mechanism, it may be desirable to auto set the Position register to match the Absolute Position(swerve for example). Or it may be desired to zero the sensor on boot(drivetrain translation sensor or a relative servo). TIP: Tuner's self-test feature will report what the boot sensor value will be in the event the device is reset.

  • Constructor Details

  • Method Details