Inheritance diagram for valor::PhoenixController< VelocityOutput, PositionOutput >:

Public Member Functions
	PhoenixController (PhoenixControllerType controllerType, int canID, valor::NeutralMode neutralMode, bool inverted, std::string canbus="")
	PhoenixController (PhoenixControllerType controllerType=KRAKEN_X60_FOC)
void	SetNeutralMode (valor::NeutralMode mode, bool saveImmediately=false) override
	Set the neutral mode of the motor.
void	PositionSetter (units::turn_t position, Output feedforward, int slot) override
	Send the motor to a specific position.
void	SetPosition (units::turn_t position, units::turns_per_second_t maxVelocity, units::turns_per_second_squared_t maxAcceleration, units::turns_per_second_cubed_t maxJerk, Output feedforward=0, int slot=0)
void	SpeedSetter (units::turns_per_second_t velocity, Output feedforward, int slot) override
	Send the motor to a specific speed.
void	UseTimesync (units::hertz_t controlFreq, bool saveImmediately=false)
void	SetPIDF (valor::PIDF<> pidf, int slot=0, bool saveImmediately=false) override
	Change the PIDF values for the motor.
void	SetPosition (units::turn_t position, Output feedforward=0, int slot=0)
Public Member Functions inherited from valor::CorePhoenixController
	CorePhoenixController (PhoenixControllerType controllerType, int canID, valor::NeutralMode neutralMode, bool inverted, std::string canbus="")
	CorePhoenixController (PhoenixControllerType controllerType)
void	ApplyConfig () override
void	Reset () override
	Resets the motor and any state.
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)
Signal< units::turn_t >	GetPosition () const override
	Get the motors position.
ctre::phoenix6::StatusSignal< units::turn_t > &	GetPositionSignal (bool refresh=true)
Signal< units::turns_per_second_t >	GetSpeed () const override
	Get the motors speed.
Signal< units::turns_per_second_squared_t >	GetAcceleration () const override
ctre::phoenix6::StatusSignal< units::turns_per_second_squared_t > &	GetAccelerationSignal (bool refresh=true)
Signal< units::ampere_t >	GetCurrent () const override
	Get the motors output current.
Signal< units::volt_t >	GetVoltage () const override
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.
constexpr units::turns_per_second_t	GetMaxMechanismSpeed ()
	Get the mechanisms's maximum speed.
constexpr double	GetGearRatio () const
constexpr void	SetVoltageCompensation (units::volt_t _voltageCompensation)
	Setup the voltage compensation for the motor.
constexpr units::volt_t	GetVoltageCompensation () const
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)
void	SetLimits (units::turn_t reverse, units::turn_t forward, bool saveImmediately=false)
	Set both soft limits for the motor.
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
	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.
bool	WriteLog (std::string_view field, bool data)
double	WriteLog (std::string_view field, double data)
void	WriteLog (std::string_view field, const std::vector< double > &data)
template<typename U> requires units::traits::is_unit_t_v<U>
U	WriteLog (std::string_view field, U data)
void	WriteLog (std::string_view field, std::string_view data)
template<typename E> requires std::is_enum_v<E>
void	WriteLog (std::string_view field, E data)
template<typename T> requires wpi::StructSerializable<T> && (!std::is_arithmetic_v<T>)
void	WriteLog (std::string_view field, const T &data)
template<typename T> requires wpi::StructSerializable<T> && (!std::is_arithmetic_v<T>)
void	WriteLog (std::string_view field, const std::vector< T > &data)
bool	ReadLog (std::string_view field, bool defaultValue)
double	ReadLog (std::string_view field, double defaultValue)
template<typename U> requires units::traits::is_unit_t_v<U>
U	ReadLog (std::string_view field, U defaultValue)

Additional Inherited Members
Public Types inherited from valor::BaseController
enum class	OperationalMode { NON_OPERATIONAL , TUNING , OPERATIONAL }
enum class	ControlMode { VOLTAGE , CURRENT , DUTY_CYCLE , SPEED , POSITION }
using	Output = std::variant<units::volt_t, units::ampere_t, units::scalar_t>
Static Public Member Functions inherited from valor::Loggable
static constexpr Loggable &	GetRoot ()
Public Attributes inherited from valor::BaseController
frc::DCMotor	motorSpec
Protected Attributes inherited from valor::CorePhoenixController
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
double	rotorToSensor
double	sensorToMech
units::volt_t	voltageCompensation
Static Protected Attributes inherited from valor::CorePhoenixController
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

Member Function Documentation

◆ PositionSetter()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityTorqueCurrentFOC, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC>

void valor::PhoenixController< VelocityOutput, PositionOutput >::PositionSetter	(	units::turn_t	position,
		Output	feedforward,
		int	slot )

inlineoverridevirtual

Send the motor to a specific position.

Will use the motor's native trapezoidal motion profile to get the motor to that position. Can be tuned using the velocity and acceleration components of valor::PIDF via setPIDF

To be defined by the implemented BaseController class

Parameters

position	The position to send the motor to
slot	The slot to use for PID gains

Implements valor::BaseController.

◆ SetNeutralMode()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityTorqueCurrentFOC, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC>

void valor::PhoenixController< VelocityOutput, PositionOutput >::SetNeutralMode	(	valor::NeutralMode	mode,
		bool	saveImmediately = false )

inlineoverridevirtual

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

Reimplemented from valor::CorePhoenixController.

◆ SetPIDF()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityTorqueCurrentFOC, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC>

void valor::PhoenixController< VelocityOutput, PositionOutput >::SetPIDF	(	valor::PIDF<>	pidf,
		int	slot = 0,
		bool	saveImmediately = false )

inlineoverridevirtual

Change the PIDF values for the motor.

valor::PIDF has some default values already set and tested, but if the system requires some changes, use this method to change those defaults.

Parameters

pidf	The new PIDF values to use for the system
slot	Set which slot of the motor to apply the PIDF. 0 if slots aren't compatible
saveImmediately	Send the config change immediately to the motor controller

Implements valor::BaseController.

◆ SpeedSetter()

template<class VelocityOutput = ctre::phoenix6::controls::VelocityTorqueCurrentFOC, class PositionOutput = ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC>

void valor::PhoenixController< VelocityOutput, PositionOutput >::SpeedSetter	(	units::turns_per_second_t	speed,
		Output	feedforward,
		int	slot )

inlineoverridevirtual

Send the motor to a specific speed.

Will use the motor's native trapezoidal motion profile to get the motor to that position. Can be tuned using the PIDF components of valor::PIDF via setPIDF

To be defined by the implemented BaseController class

Parameters

speed	The speed to set the motor to
slot	The slot to use for PID gains

Implements valor::BaseController.

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

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

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ PositionSetter()

◆ SetNeutralMode()

◆ SetPIDF()

◆ SpeedSetter()