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2023 Charge Up
0.1.0
Code for the Titanium Titans (FRC Team #4467)'s 2023 robot
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2023 Charge Up
0.1.0
Code for the Titanium Titans (FRC Team #4467)'s 2023 robot
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Public Member Functions | |
| TalonEnhanced (IMotorControllerEnhanced talon) | |
| TalonEnhanced | autoRetry (CTREUtil.ConfigCall talonConfigCall) |
| TalonEnhanced | set (ControlMode controlMode, double demand0) |
| TalonEnhanced | set (ControlMode controlMode, double demand0, DemandType demandType, double demand1) |
| TalonEnhanced | neutralOutput () |
| TalonEnhanced | setNeutralMode (NeutralMode neutralMode) |
| TalonEnhanced | setSensorPhase (boolean sensorPhase) |
| TalonEnhanced | setInverted (boolean invert) |
| TalonEnhanced | setInverted (InvertType invertType) |
| boolean | getInverted () |
| TalonEnhanced | configOpenLoopRamp (double secondsFromNeutralToFull) |
| TalonEnhanced | configClosedLoopRamp (double secondsFromNeutralToFull) |
| TalonEnhanced | configPeakOutputForward (double percentOut) |
| TalonEnhanced | configPeakOutputReverse (double percentOut) |
| TalonEnhanced | configNominalOutputForward (double percentOut) |
| TalonEnhanced | configNominalOutputReverse (double percentOut) |
| TalonEnhanced | configNeutralDeadband (double percentDeadband) |
| TalonEnhanced | configVoltageCompSaturation (double voltage) |
| TalonEnhanced | configVoltageMeasurementFilter (int filterWindowSamples) |
| TalonEnhanced | enableVoltageCompensation (boolean enable) |
| double | getBusVoltage () |
| double | getMotorOutputPercent () |
| double | getMotorOutputVoltage () |
| double | getTemperature () |
| TalonEnhanced | configSelectedFeedbackSensor (RemoteFeedbackDevice feedbackDevice, int pidIdx) |
| TalonEnhanced | configSelectedFeedbackCoefficient (double coefficient, int pidIdx) |
| TalonEnhanced | configRemoteFeedbackFilter (int deviceID, RemoteSensorSource remoteSensorSource, int remoteOrdinal) |
| TalonEnhanced | configRemoteFeedbackFilter (CANCoder canCoderRef, int remoteOrdinal) |
| TalonEnhanced | configRemoteFeedbackFilter (BaseTalon talonRef, int remoteOrdinal) |
| TalonEnhanced | configSensorTerm (SensorTerm sensorTerm, FeedbackDevice feedbackDevice) |
| double | getSelectedSensorPosition (int pidIdx) |
| double | getSelectedSensorVelocity (int pidIdx) |
| TalonEnhanced | setSelectedSensorPosition (double sensorPos, int pidIdx) |
| TalonEnhanced | setControlFramePeriod (ControlFrame frame, int periodMs) |
| TalonEnhanced | setStatusFramePeriod (StatusFrame frame, int periodMs) |
| int | getStatusFramePeriod (StatusFrame frame) |
| TalonEnhanced | configForwardLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID) |
| TalonEnhanced | configReverseLimitSwitchSource (RemoteLimitSwitchSource type, LimitSwitchNormal normalOpenOrClose, int deviceID) |
| TalonEnhanced | overrideLimitSwitchesEnable (boolean enable) |
| TalonEnhanced | configForwardSoftLimitThreshold (double forwardSensorLimit) |
| TalonEnhanced | configReverseSoftLimitThreshold (double reverseSensorLimit) |
| TalonEnhanced | configForwardSoftLimitEnable (boolean enable) |
| TalonEnhanced | configReverseSoftLimitEnable (boolean enable) |
| TalonEnhanced | overrideSoftLimitsEnable (boolean enable) |
| TalonEnhanced | config_kP (int slotIdx, double value) |
| TalonEnhanced | config_kI (int slotIdx, double value) |
| TalonEnhanced | config_kD (int slotIdx, double value) |
| TalonEnhanced | config_kF (int slotIdx, double value) |
| TalonEnhanced | configIntegralZone (int slotIdx, double iZone) |
| TalonEnhanced | configAllowableClosedLoopError (int slotIdx, double allowableCloseLoopError) |
| TalonEnhanced | configMaxIntegralAccumulator (int slotIdx, double maxIAccumulator) |
| TalonEnhanced | configClosedLoopPeakOutput (int slotIdx, double percentOut) |
| TalonEnhanced | configClosedLoopPeriod (int slotIdx, int loopTimeMs) |
| TalonEnhanced | configAuxPIDPolarity (boolean invert) |
| TalonEnhanced | setIntegralAccumulator (double iAccumulator, int pidIdx) |
| double | getClosedLoopError (int pidIdx) |
| double | getIntegralAccumulator (int pidIdx) |
| double | getErrorDerivative (int pidIdx) |
| TalonEnhanced | selectProfileSlot (int slotIdx, int pidIdx) |
| double | getClosedLoopTarget (int pidIdx) |
| double | getActiveTrajectoryPosition () |
| double | getActiveTrajectoryVelocity () |
| TalonEnhanced | configMotionCruiseVelocity (double cruiseVelocity) |
| TalonEnhanced | configMotionAcceleration (double accel) |
| TalonEnhanced | configMotionSCurveStrength (int curveStrength) |
| TalonEnhanced | configMotionProfileTrajectoryPeriod (int baseTrajectoryDurationMS) |
| TalonEnhanced | clearMotionProfileTrajectories () |
| int | getMotionProfileTopLevelBufferCount () |
| TalonEnhanced | pushMotionProfileTrajectory (TrajectoryPoint trajectoryPoint) |
| boolean | isMotionProfileTopLevelBufferFull () |
| TalonEnhanced | processMotionProfileBuffer () |
| TalonEnhanced | getMotionProfileStatus (MotionProfileStatus statusToFill) |
| TalonEnhanced | clearMotionProfileHasUnderRun () |
| TalonEnhanced | changeMotionControlFramePeriod (int periodMs) |
| ErrorCode | getLastError () |
| TalonEnhanced | getFaults (Faults toFill) |
| TalonEnhanced | getStickyFaults (StickyFaults toFill) |
| TalonEnhanced | clearStickyFaults () |
| int | getFirmwareVersion () |
| boolean | hasResetOccurred () |
| TalonEnhanced | configSetCustomParam (int newValue, int paramIndex) |
| int | configGetCustomParam (int paramIndex) |
| TalonEnhanced | configSetParameter (ParamEnum param, double value, int subValue, int ordinal) |
| TalonEnhanced | configSetParameter (int param, double value, int subValue, int ordinal) |
| double | configGetParameter (ParamEnum paramEnum, int ordinal) |
| double | configGetParameter (int paramEnum, int ordinal) |
| int | getBaseID () |
| int | getDeviceID () |
| ControlMode | getControlMode () |
| TalonEnhanced | follow (IMotorController masterToFollow) |
| TalonEnhanced | follow (TalonEnhanced masterToFollow) |
| TalonEnhanced | configSelectedFeedbackSensor (FeedbackDevice feedbackDevice, int pidIdx) |
| TalonEnhanced | configSupplyCurrentLimit (SupplyCurrentLimitConfiguration currLimitCfg) |
| TalonEnhanced | setStatusFramePeriod (StatusFrameEnhanced frame, int periodMs) |
| int | getStatusFramePeriod (StatusFrameEnhanced frame) |
| TalonEnhanced | setFeedbackIntervals (int intervalMs) |
| TalonEnhanced | setControlIntervals (int intervalMs) |
| TalonEnhanced | setAllStatusIntervals (int intervalMs) |
| TalonEnhanced | defaultFrameIntervals () |
| double | getOutputCurrent () |
| TalonEnhanced | configVelocityMeasurementPeriod (SensorVelocityMeasPeriod period) |
| TalonEnhanced | configVelocityMeasurementWindow (int windowSize) |
| TalonEnhanced | configForwardLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose) |
| TalonEnhanced | configReverseLimitSwitchSource (LimitSwitchSource type, LimitSwitchNormal normalOpenOrClose) |
This is my second attempt to create a wrapper class for CTRE motor controllers and add error checking, "lazy" setters (that only run when a value changes), and some other convenience methods.
At the moment, it's not technically a drop-in replacement for TalonFX or TalonSRX (some of those class's methods that aren't in IMotorControllerEnhanced are missing), but it's pretty close.
| TalonEnhanced lib.utils.drivers.TalonEnhanced.set | ( | ControlMode | controlMode, |
| double | demand0 | ||
| ) |
Same idea as 254's "LazyTalonFX" class. The IMotorControllerEnhanced's set method is only called when demand0 is changed.
| TalonEnhanced lib.utils.drivers.TalonEnhanced.set | ( | ControlMode | controlMode, |
| double | demand0, | ||
| DemandType | demandType, | ||
| double | demand1 | ||
| ) |
Same idea as 254's "LazyTalonFX" class. The IMotorControllerEnhanced's set method is only called when demand0 is changed.
1.9.1