Package com.stuypulse.robot.constants
Class Motors.TalonFXConfig
java.lang.Object
com.stuypulse.robot.constants.Motors.TalonFXConfig
- Enclosing interface:
- Motors
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Field Summary
FieldsModifier and TypeFieldDescriptionprivate final com.ctre.phoenix6.configs.ClosedLoopRampsConfigsprivate final com.ctre.phoenix6.configs.TalonFXConfigurationprivate final com.ctre.phoenix6.configs.CurrentLimitsConfigsprivate final com.ctre.phoenix6.configs.FeedbackConfigsprivate final com.ctre.phoenix6.configs.MotionMagicConfigsprivate final com.ctre.phoenix6.configs.MotorOutputConfigsprivate final com.ctre.phoenix6.configs.OpenLoopRampsConfigsprivate final com.ctre.phoenix6.configs.Slot0Configsprivate final com.ctre.phoenix6.configs.Slot1Configsprivate final com.ctre.phoenix6.configs.Slot2Configs -
Constructor Summary
Constructors -
Method Summary
Modifier and TypeMethodDescriptionvoidconfigure(com.ctre.phoenix6.hardware.TalonFX motor) com.ctre.phoenix6.configs.TalonFXConfigurationwithFFConstants(double kS, double kV, double kA, double kG, int slot) withFFConstants(double kS, double kV, double kA, int slot) withGravityType(com.ctre.phoenix6.signals.GravityTypeValue gravityType) withInvertedValue(com.ctre.phoenix6.signals.InvertedValue invertedValue) withMotionProfile(double maxVelocity, double maxAcceleration) withNeutralMode(com.ctre.phoenix6.signals.NeutralModeValue neutralMode) withPIDConstants(double kP, double kI, double kD, int slot) withRampRate(double rampRate) withRemoteSensor(int ID, com.ctre.phoenix6.signals.FeedbackSensorSourceValue source, double rotorToSensorRatio) withSensorToMechanismRatio(double sensorToMechanismRatio) withStatorCurrentLimitAmps(double currentLimitAmps) withSupplyCurrentLimitAmps(double currentLimitAmps)
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Field Details
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configuration
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slot0Configs
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slot1Configs
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slot2Configs
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motorOutputConfigs
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closedLoopRampsConfigs
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openLoopRampsConfigs
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currentLimitsConfigs
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feedbackConfigs
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motionMagicConfigs
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Constructor Details
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TalonFXConfig
public TalonFXConfig()
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Method Details
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getConfiguration
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configure
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withPIDConstants
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withFFConstants
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withFFConstants
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withGravityType
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withInvertedValue
public Motors.TalonFXConfig withInvertedValue(com.ctre.phoenix6.signals.InvertedValue invertedValue) -
withNeutralMode
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withRampRate
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withStatorCurrentLimitAmps
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withSupplyCurrentLimitAmps
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withMotionProfile
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withRemoteSensor
public Motors.TalonFXConfig withRemoteSensor(int ID, com.ctre.phoenix6.signals.FeedbackSensorSourceValue source, double rotorToSensorRatio) -
withSensorToMechanismRatio
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