Package com.stuypulse.robot.constants

Class Motors.TalonFXConfig

java.lang.Object

com.stuypulse.robot.constants.Motors.TalonFXConfig

Enclosing interface:

Motors

public static class Motors.TalonFXConfig
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
private final com.ctre.phoenix6.configs.ClosedLoopRampsConfigs	closedLoopRampsConfigs
private final com.ctre.phoenix6.configs.TalonFXConfiguration	configuration
private final com.ctre.phoenix6.configs.CurrentLimitsConfigs	currentLimitsConfigs
private final com.ctre.phoenix6.configs.FeedbackConfigs	feedbackConfigs
private final com.ctre.phoenix6.configs.MotionMagicConfigs	motionMagicConfigs
private final com.ctre.phoenix6.configs.MotorOutputConfigs	motorOutputConfigs
private final com.ctre.phoenix6.configs.OpenLoopRampsConfigs	openLoopRampsConfigs
private final com.ctre.phoenix6.configs.Slot0Configs	slot0Configs
private final com.ctre.phoenix6.configs.Slot1Configs	slot1Configs
private final com.ctre.phoenix6.configs.Slot2Configs	slot2Configs

Constructor Summary

Constructors

Constructor	Description
TalonFXConfig()

Method Summary

Modifier and Type	Method	Description
void	configure(com.ctre.phoenix6.hardware.TalonFX motor)
com.ctre.phoenix6.configs.TalonFXConfiguration	getConfiguration()
Motors.TalonFXConfig	withFFConstants(double kS, double kV, double kA, double kG, int slot)
Motors.TalonFXConfig	withFFConstants(double kS, double kV, double kA, int slot)
Motors.TalonFXConfig	withGravityType(com.ctre.phoenix6.signals.GravityTypeValue gravityType)
Motors.TalonFXConfig	withInvertedValue(com.ctre.phoenix6.signals.InvertedValue invertedValue)
Motors.TalonFXConfig	withMotionProfile(double maxVelocity, double maxAcceleration)
Motors.TalonFXConfig	withNeutralMode(com.ctre.phoenix6.signals.NeutralModeValue neutralMode)
Motors.TalonFXConfig	withPIDConstants(double kP, double kI, double kD, int slot)
Motors.TalonFXConfig	withRampRate(double rampRate)
Motors.TalonFXConfig	withRemoteSensor(int ID, com.ctre.phoenix6.signals.FeedbackSensorSourceValue source, double rotorToSensorRatio)
Motors.TalonFXConfig	withSensorToMechanismRatio(double sensorToMechanismRatio)
Motors.TalonFXConfig	withStatorCurrentLimitAmps(double currentLimitAmps)
Motors.TalonFXConfig	withSupplyCurrentLimitAmps(double currentLimitAmps)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

configuration

private final com.ctre.phoenix6.configs.TalonFXConfiguration configuration

slot0Configs

private final com.ctre.phoenix6.configs.Slot0Configs slot0Configs

slot1Configs

private final com.ctre.phoenix6.configs.Slot1Configs slot1Configs

slot2Configs

private final com.ctre.phoenix6.configs.Slot2Configs slot2Configs

motorOutputConfigs

private final com.ctre.phoenix6.configs.MotorOutputConfigs motorOutputConfigs

closedLoopRampsConfigs

private final com.ctre.phoenix6.configs.ClosedLoopRampsConfigs closedLoopRampsConfigs

openLoopRampsConfigs

private final com.ctre.phoenix6.configs.OpenLoopRampsConfigs openLoopRampsConfigs

currentLimitsConfigs

private final com.ctre.phoenix6.configs.CurrentLimitsConfigs currentLimitsConfigs

feedbackConfigs

private final com.ctre.phoenix6.configs.FeedbackConfigs feedbackConfigs

motionMagicConfigs

private final com.ctre.phoenix6.configs.MotionMagicConfigs motionMagicConfigs

Constructor Details

TalonFXConfig

public TalonFXConfig()

Method Details

getConfiguration

public com.ctre.phoenix6.configs.TalonFXConfiguration getConfiguration()

configure

public void configure(com.ctre.phoenix6.hardware.TalonFX motor)

withPIDConstants

public Motors.TalonFXConfig withPIDConstants(double kP,
 double kI,
 double kD,
 int slot)

withFFConstants

public Motors.TalonFXConfig withFFConstants(double kS,
 double kV,
 double kA,
 int slot)

withFFConstants

public Motors.TalonFXConfig withFFConstants(double kS,
 double kV,
 double kA,
 double kG,
 int slot)

withGravityType

public Motors.TalonFXConfig withGravityType(com.ctre.phoenix6.signals.GravityTypeValue gravityType)

withInvertedValue

public Motors.TalonFXConfig withInvertedValue(com.ctre.phoenix6.signals.InvertedValue invertedValue)

withNeutralMode

public Motors.TalonFXConfig withNeutralMode(com.ctre.phoenix6.signals.NeutralModeValue neutralMode)

withRampRate

public Motors.TalonFXConfig withRampRate(double rampRate)

withStatorCurrentLimitAmps

public Motors.TalonFXConfig withStatorCurrentLimitAmps(double currentLimitAmps)

withSupplyCurrentLimitAmps

public Motors.TalonFXConfig withSupplyCurrentLimitAmps(double currentLimitAmps)

withMotionProfile

public Motors.TalonFXConfig withMotionProfile(double maxVelocity,
 double maxAcceleration)

withRemoteSensor

public Motors.TalonFXConfig withRemoteSensor(int ID,
 com.ctre.phoenix6.signals.FeedbackSensorSourceValue source,
 double rotorToSensorRatio)

withSensorToMechanismRatio

public Motors.TalonFXConfig withSensorToMechanismRatio(double sensorToMechanismRatio)