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

Constructor Summary

Constructors

Constructor	Description
TalonFXConfig()

Method Summary

Modifier and Type	Method	Description
void	configure(com.ctre.phoenix6.hardware.TalonFX motor)
Motors.TalonFXConfig	withCurrentLimitAmps(double currentLimitAmps)
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	withSupplyCurrentLimitAmps(double currentLimitAmps)

Methods inherited from class java.lang.Object

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

Constructor Details

TalonFXConfig

public TalonFXConfig()

Method Details

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)

withCurrentLimitAmps

public Motors.TalonFXConfig withCurrentLimitAmps(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)