Inheritance diagram for valor::CorePhoenixController:

Public Member Functions
	CorePhoenixController (valor::PhoenixControllerType controllerType, int canID, valor::NeutralMode neutralMode, bool inverted, std::string canbus="")
	CorePhoenixController (valor::PhoenixControllerType controllerType)
void	ApplyConfig () override
void	Reset () override
	Resets the motor and any state.
void	SetNeutralMode (valor::NeutralMode mode, bool saveImmediately=false) override
	Set the neutral mode of the motor.
void	SetCurrentLimits (units::ampere_t statorCurrentLimit, units::ampere_t supplyCurrentLimit, units::ampere_t supplyCurrentThreshold, units::second_t supplyTimeThreshold, bool saveImmediately=false)
void	SetVoltageLimits (units::volt_t reverseLimit, units::volt_t forwardLimit, bool saveImmediately=false)
units::turn_t	GetPosition () const override
	Get the motors position.
ctre::phoenix6::StatusSignal< units::turn_t > &	GetPositionSignal (bool refresh=true)
units::turns_per_second_t	GetSpeed () const override
	Get the motors speed.
units::ampere_t	GetCurrent () const override
	Get the motors output current.
void	SetEncoderPosition (units::turn_t position) override
void	SetContinuousWrap (bool continuousWrap, bool saveImmediately=false)
void	PowerSetter (Output out) override
void	SetupFollower (int canID, bool followerInverted=false) override
	If a motor is paired with another motor, setup that other motor as a follower.
void	SetupReverseHardwareLimit (int canID, ctre::phoenix6::signals::ReverseLimitTypeValue type, units::turn_t autosetPosition=0_tr, bool saveImmediately=false)
void	SetupForwardHardwareLimit (int canID, ctre::phoenix6::signals::ForwardLimitTypeValue type, units::turn_t autosetPosition=0_tr, bool saveImmediately=false)
void	SetForwardLimit (units::turn_t forward, bool saveImmediately=false) override
	Set the forward soft limit for the motor.
void	SetReverseLimit (units::turn_t reverse, bool saveImmediately=false) override
	Set the reverse soft limit for the motor.
void	SetGearRatios (double _rotorToSensor, double _sensorToMech, bool saveImmediately=false) override
	Set the gear ratios for the motor.
ctre::phoenix6::signals::MagnetHealthValue	GetMagnetHealth ()
units::turn_t	GetAbsoluteEncoderPosition () const override
void	SetupCANcoder (int deviceId, units::turn_t offset, bool clockwise, std::string canbus="", units::turn_t absoluteRange=1_tr, bool saveImmediately=false)
ctre::phoenix6::hardware::CANcoder *	GetCANcoder ()
void	SetOpenLoopRamp (units::second_t time, bool saveImmediately=false) override
units::volt_t	CalculateAppliedVoltage () override
void	SetSimState (units::turn_t pos, units::turns_per_second_t vel, units::turns_per_second_squared_t accel)
void	LoggablePeriodic () override
	Periodic callback for logging updates.
virtual void	SetSimState (frc::sim::DCMotorSim &sim)
virtual void	SetSimState (frc::sim::FlywheelSim &sim)
virtual void	SetSimState (frc::sim::SingleJointedArmSim &sim)
Public Member Functions inherited from valor::BaseController
	BaseController (frc::DCMotor _motorSpec)
	Construct a new Valor Controller object.
void	OnLoggingStart () override
	Hook invoked when logging is started for this object.
OperationalMode	GetOperationalMode () const
TuningMode	GetTuningMode () const
constexpr units::turns_per_second_t	GetMaxMechanismSpeed ()
	Get the mechanisms's maximum speed.
constexpr void	SetVoltageCompensation (units::volt_t _voltageCompensation)
	Setup the voltage compensation for the motor.
constexpr units::volt_t	GetVoltageCompensation ()
void	SetPosition (units::turn_t position, Output feedforward=0, int slot=0)
void	SetSpeed (units::turns_per_second_t speed, Output feedforward=0, int slot=0)
void	SetPower (Output power)
virtual void	SetPIDF (valor::PIDF<> pidf, int slot=0, bool saveImmediately=false)=0
	Change the PIDF values for the motor.
void	SetLimits (units::turn_t reverse, units::turn_t forward, bool saveImmediately=false)
	Set both soft limits for the motor.
constexpr void	SetDefaultTuningMode (TuningMode mode)
Public Member Functions inherited from valor::Loggable
	Loggable (std::string_view name)
	Construct a Loggable that registers a top-level table name.
	Loggable (std::shared_ptr< nt::NetworkTable > table)
	Construct a Loggable that uses an existing NetworkTable.
	Loggable ()
	Default construct an uninitialized Loggable.
void	LogChild (std::string_view name, Loggable *child)
	Register a child Loggable under a named subtree.
void	LogChild (std::string_view name, wpi::Sendable *child)
	Register a child Sendable under a named subtree.
void	SetPeriodicLevel (LogLevel level)
	Set the logging level for LoggablePeriodic.
template<typename T>
T	WriteLog (std::string_view field, const T &data, LogLevel level=LogLevel::Normal)
	Publish a value to NetworkTables under the given field.
template<typename T>
T	ReadLog (std::string_view field, const T &defaultValue={})
	Read a value from NetworkTables for the given field.
template<>
decltype(Loggable::subscribers) ::iterator	addSubscriber (std::string_view field, const std::vector< bool > &defaultValue)
template<>
void	WriteLogImpl (nt::Publisher *pub, const std::vector< bool > &data)
template<>
std::vector< bool >	ReadLogImpl (nt::Subscriber *sub)

Protected Attributes
std::unique_ptr< CorePhoenixController >	followerMotor
std::unique_ptr< ctre::phoenix6::hardware::CANcoder >	cancoder
std::unique_ptr< ctre::phoenix6::configs::MagnetSensorConfigs >	cancoderConfig
ctre::phoenix6::configs::TalonFXConfiguration	config
ctre::phoenix6::controls::VoltageOut	voltageRequest {0_V}
ctre::phoenix6::controls::DutyCycleOut	dutyCycleRequest {0}
ctre::phoenix6::controls::TorqueCurrentFOC	currentRequest {0_A}
Protected Attributes inherited from valor::BaseController
units::volt_t	voltageCompensation

Static Protected Attributes
static constexpr units::ampere_t	STATOR_CURRENT_LIMIT = 40_A
static constexpr units::ampere_t	SUPPLY_CURRENT_LIMIT = 30_A
static constexpr units::ampere_t	SUPPLY_CURRENT_THRESHOLD = 30_A
static constexpr units::millisecond_t	SUPPLY_TIME_THRESHOLD = 1_s
static constexpr units::ampere_t	PEAK_TORQUE_CURRENT = 100_A
static constexpr units::turn_t	DEADBAND = 0.01_tr

Additional Inherited Members
Public Types inherited from valor::BaseController
enum class	OperationalMode { NonOperational , Tuning , Operational }
enum class	TuningMode { Voltage , Current , DutyCycle , Speed , Position }
using	Output = std::variant<units::volt_t, units::ampere_t, units::scalar_t>
Static Public Member Functions inherited from valor::Loggable
static units::millisecond_t	GetLoggingTime ()
static constexpr Loggable &	GetRoot ()
Public Attributes inherited from valor::BaseController
frc::DCMotor	motorSpec
double	rotorToSensor
double	sensorToMech
Protected Member Functions inherited from valor::BaseController
virtual void	PositionSetter (units::turn_t position, Output feedforward=0, int slot=0)=0
	Send the motor to a specific position.
virtual void	SpeedSetter (units::turns_per_second_t speed, Output feedforward=0, int slot=0)=0
	Send the motor to a specific speed.

Member Function Documentation

◆ ApplyConfig()

void valor::CorePhoenixController::ApplyConfig ( )

inlineoverridevirtual

Implements valor::BaseController.

◆ CalculateAppliedVoltage()

units::volt_t valor::CorePhoenixController::CalculateAppliedVoltage ( )

overridevirtual

Implements valor::BaseController.

◆ GetAbsoluteEncoderPosition()

units::turn_t valor::CorePhoenixController::GetAbsoluteEncoderPosition ( ) const

overridevirtual

Implements valor::BaseController.

◆ GetCurrent()

units::ampere_t valor::CorePhoenixController::GetCurrent ( ) const

overridevirtual

Get the motors output current.

Get the instantaneous current of the motor that the controller owns

Returns: units::ampere_t Instantaneous amperage of the motor

Implements valor::BaseController.

◆ GetPosition()

units::turn_t valor::CorePhoenixController::GetPosition ( ) const

overridevirtual

Get the motors position.

To be defined by the implemented BaseController class

Returns: units::turn_t Position of the motor

Implements valor::BaseController.

◆ GetSpeed()

units::turns_per_second_t valor::CorePhoenixController::GetSpeed ( ) const

overridevirtual

Get the motors speed.

To be defined by the implemented BaseController class

Returns: units::turns_per_second_t Speed of the motor

Implements valor::BaseController.

◆ LoggablePeriodic()

void valor::CorePhoenixController::LoggablePeriodic ( )

overridevirtual

Periodic callback for logging updates.

If a derived class needs to perform periodic updates to published values, override this method. It is intended to be called by the logging framework; this base class provides an empty implementation.

Reimplemented from valor::Loggable.

◆ PowerSetter()

void valor::CorePhoenixController::PowerSetter ( Output out )

overridevirtual

Implements valor::BaseController.

◆ Reset()

void valor::CorePhoenixController::Reset ( )

inlineoverridevirtual

Resets the motor and any state.

Clear the encoders for the motor and set to 0.

Additionally, should be called by the constructor to set default values before any logic is run.

To be defined by the implemented BaseController class

Reimplemented from valor::BaseController.

◆ SetEncoderPosition()

void valor::CorePhoenixController::SetEncoderPosition ( units::turn_t position )

inlineoverridevirtual

Implements valor::BaseController.

◆ SetForwardLimit()

void valor::CorePhoenixController::SetForwardLimit	(	units::turn_t	forward,
		bool	saveImmediately = false )

overridevirtual

Set the forward soft limit for the motor.

Soft limits restrict the reverse and forward direction to a certain range.

Parameters

forward	The forward soft limit
saveImmediately	Send the config change immediately to the motor controller

Implements valor::BaseController.

◆ SetGearRatios()

void valor::CorePhoenixController::SetGearRatios	(	double	rotorToSensor,
		double	sensorToMech,
		bool	saveImmediately = false )

overridevirtual

Set the gear ratios for the motor.

Used to convert between the motor's rotor and the output shaft of the mechanism

To be defined by the implemented BaseController class

Parameters

rotorToSensor	The gear ratio from rotor to where the sensor is. Should be 1 if no external sensor
sensorToMech	The gear ratio from the sensor to the mechanism's output shaft. Should be the gear ratio if no external sensor
saveImmediately	Tell the underlying controller to apply the changes immediately, or to wait until a manual apply has been called

Implements valor::BaseController.

◆ SetNeutralMode()

void valor::CorePhoenixController::SetNeutralMode	(	valor::NeutralMode	mode,
		bool	saveImmediately = false )

overridevirtual

Set the neutral mode of the motor.

Parameters

mode	The neutral mode of the motor
saveImmediately	Send the config change immediately to the motor controller

Implements valor::BaseController.

Reimplemented in valor::PhoenixController< VelocityOutput, PositionOutput >.

◆ SetOpenLoopRamp()

void valor::CorePhoenixController::SetOpenLoopRamp	(	units::second_t	time,
		bool	saveImmediately = false )

overridevirtual

Implements valor::BaseController.

◆ SetReverseLimit()

void valor::CorePhoenixController::SetReverseLimit	(	units::turn_t	reverse,
		bool	saveImmediately = false )

overridevirtual

Set the reverse soft limit for the motor.

Soft limits restrict the reverse and reverse direction to a certain range.

Parameters

reverse	The reverse soft limit
saveImmediately	Send the config change immediately to the motor controller

Implements valor::BaseController.

◆ SetSimState() [1/4]

virtual void valor::BaseController::SetSimState ( frc::sim::DCMotorSim & sim )

inlinevirtual

Reimplemented from valor::BaseController.

◆ SetSimState() [2/4]

virtual void valor::BaseController::SetSimState ( frc::sim::FlywheelSim & sim )

inlinevirtual

Reimplemented from valor::BaseController.

◆ SetSimState() [3/4]

virtual void valor::BaseController::SetSimState ( frc::sim::SingleJointedArmSim & sim )

inlinevirtual

Reimplemented from valor::BaseController.

◆ SetSimState() [4/4]

void valor::CorePhoenixController::SetSimState	(	units::turn_t	pos,
		units::turns_per_second_t	vel,
		units::turns_per_second_squared_t	accel )

virtual

Implements valor::BaseController.

◆ SetupFollower()

void valor::CorePhoenixController::SetupFollower	(	int	canID,
		bool	followerInverted = false )

overridevirtual

If a motor is paired with another motor, setup that other motor as a follower.

The follower motor will need a CAN ID, and then it will mimic and assume all other parameters of the lead motor

To be defined by the implemented BaseController class

Parameters

canID	The CAN ID of the follower motor
followerInverted	Whether the follower is inverted or not. This is an absolute inversion, NOT relative to the master.

Implements valor::BaseController.

The documentation for this class was generated from the following file:

src/main/include/valkyrie/controllers/PhoenixController.h

Public Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ ApplyConfig()

◆ CalculateAppliedVoltage()

◆ GetAbsoluteEncoderPosition()

◆ GetCurrent()

◆ GetPosition()

◆ GetSpeed()

◆ LoggablePeriodic()

◆ PowerSetter()

◆ Reset()

◆ SetEncoderPosition()

◆ SetForwardLimit()

◆ SetGearRatios()

◆ SetNeutralMode()

◆ SetOpenLoopRamp()

◆ SetReverseLimit()

◆ SetSimState() [1/4]

◆ SetSimState() [2/4]

◆ SetSimState() [3/4]

◆ SetSimState() [4/4]

◆ SetupFollower()