yams::motorcontrollers::remote::TalonFXSWrapper Class Reference

#include <TalonFXSWrapper.hpp>

Inheritance diagram for yams::motorcontrollers::remote::TalonFXSWrapper:

Collaboration diagram for yams::motorcontrollers::remote::TalonFXSWrapper:

Public Types
enum class	MotorArrangement {   Minion , NEO , NEO550 , NEOVortex ,   Brushed_2Wire , Brushed_3Wire }
Public Types inherited from yams::motorcontrollers::SmartMotorController
using	ClosedLoopControllerSlot = SmartMotorControllerConfig::ClosedLoopControllerSlot
using	MotorMode = SmartMotorControllerConfig::MotorMode
using	ControlMode = SmartMotorControllerConfig::ControlMode

Public Member Functions
	TalonFXSWrapper (ctre::phoenix6::hardware::TalonFXS *talon, wpi::math::DCMotor dcMotor, SmartMotorControllerConfig *config)
	TalonFXSWrapper (ctre::phoenix6::hardware::TalonFXS *talon, wpi::math::DCMotor dcMotor, MotorArrangement arrangement, SmartMotorControllerConfig *config)
	~TalonFXSWrapper ()
TalonFXSWrapper &	EnableFOC ()
TalonFXSWrapper &	DisableFOC ()
bool	UseCANdiPWM1 () const
bool	UseCANdiPWM2 () const
void	SetUpdateFrequency (wpi::units::hertz_t frequency)
ctre::phoenix::StatusCode	ForceConfigApply ()
telemetry::UnsupportedTelemetryFields	GetUnsupportedTelemetryFields () override
bool	ApplyConfig (const SmartMotorControllerConfig &config) override
void	SetupSimulation () override
void	SimIterate () override
void	SeedRelativeEncoder () override
void	SynchronizeRelativeEncoder () override
void	SetDutyCycle (double dutyCycle) override
double	GetDutyCycle () override
void	SetVoltage (wpi::units::volt_t voltage) override
wpi::units::volt_t	GetVoltage () override
std::optional< wpi::units::second_t >	GetVelocityMeasurementDelay () const override
void	SetPosition (wpi::units::turn_t angle) override
void	SetPosition (wpi::units::meter_t distance) override
void	SetVelocity (wpi::units::turns_per_second_t velocity) override
void	SetVelocity (wpi::units::meters_per_second_t velocity) override
void	SetVelocity (wpi::units::turns_per_second_t velocity, wpi::units::newton_t feedforwardForce) override
void	SetEncoderPosition (wpi::units::turn_t angle) override
void	SetEncoderPosition (wpi::units::meter_t distance) override
void	SetEncoderVelocity (wpi::units::turns_per_second_t velocity) override
void	SetEncoderVelocity (wpi::units::meters_per_second_t velocity) override
wpi::units::turn_t	GetMechanismPosition () override
wpi::units::turns_per_second_t	GetMechanismVelocity () override
wpi::units::turn_t	GetRelativeMechanismPosition () override
wpi::units::turns_per_second_t	GetRelativeMechanismVelocity () override
wpi::units::turns_per_second_squared_t	GetMechanismAcceleration () override
wpi::units::turn_t	GetRotorPosition () override
wpi::units::turns_per_second_t	GetRotorVelocity () override
wpi::units::meter_t	GetMeasurementPosition () override
wpi::units::meters_per_second_t	GetMeasurementVelocity () override
wpi::units::meters_per_second_squared_t	GetMeasurementAcceleration () override
std::optional< wpi::units::turn_t >	GetExternalEncoderMechanismPosition () override
std::optional< wpi::units::turns_per_second_t >	GetExternalEncoderMechanismVelocity () override
std::optional< wpi::units::ampere_t >	GetSupplyCurrent () override
wpi::units::ampere_t	GetStatorCurrent () override
wpi::units::celsius_t	GetTemperature () override
wpi::math::DCMotor	GetDCMotor () override
void	SetZeroPower (MotorMode mode) override
void	SetMotorInverted (bool inverted) override
void	SetEncoderInverted (bool inverted) override
void	SetKp (double kP) override
void	SetKi (double kI) override
void	SetKd (double kD) override
void	SetFeedback (double kP, double kI, double kD) override
void	SetKs (double kS) override
void	SetKv (double kV) override
void	SetKa (double kA) override
void	SetKg (double kG) override
void	SetFeedforward (double kS, double kV, double kA, double kG) override
void	SetStatorCurrentLimit (wpi::units::ampere_t currentLimit) override
void	SetSupplyCurrentLimit (wpi::units::ampere_t currentLimit) override
void	SetClosedLoopRampRate (wpi::units::second_t rampRate) override
void	SetOpenLoopRampRate (wpi::units::second_t rampRate) override
void	SetMechanismUpperLimit (wpi::units::turn_t upperLimit) override
void	SetMechanismLowerLimit (wpi::units::turn_t lowerLimit) override
void	SetMechanismLimits (wpi::units::turn_t lower, wpi::units::turn_t upper) override
void	SetMechanismLimitsEnabled (bool enabled) override
void	SetMeasurementUpperLimit (wpi::units::meter_t upperLimit) override
void	SetMeasurementLowerLimit (wpi::units::meter_t lowerLimit) override
void	SetMotionProfileMaxVelocity (wpi::units::turns_per_second_t maxVelocity) override
void	SetMotionProfileMaxVelocity (wpi::units::meters_per_second_t maxVelocity) override
void	SetMotionProfileMaxAcceleration (wpi::units::turns_per_second_squared_t maxAcc) override
void	SetMotionProfileMaxAcceleration (wpi::units::meters_per_second_squared_t maxAcc) override
void	SetMotionProfileMaxJerk (wpi::units::angular_jerk::turns_per_second_cubed_t maxJerk) override
void	SetExponentialProfile (std::optional< double > kV, std::optional< double > kA, std::optional< wpi::units::volt_t > maxInput) override
void	SetClosedLoopSlot (ClosedLoopControllerSlot slot) override
void	SetMechanismGearing (const gearing::MechanismGearing &gearing) override
void	SetMechanismCircumference (wpi::units::meter_t circumference) override
SmartMotorControllerConfig &	GetConfig () override
void *	GetMotorController () override
void *	GetMotorControllerConfig () override
virtual void	SetVelocity (wpi::units::turns_per_second_t velocity)=0
virtual void	SetVelocity (wpi::units::meters_per_second_t velocity)=0
virtual void	SetVelocity (wpi::units::turns_per_second_t velocity, wpi::units::newton_t feedforwardForce)
void	SetVelocity (wpi::units::meters_per_second_t velocity, wpi::units::newton_t feedforwardForce)
Public Member Functions inherited from yams::motorcontrollers::SmartMotorController
virtual	~SmartMotorController ()
void	SetSimSupplier (std::shared_ptr< SimSupplier > supplier)
SimSupplier *	GetSimSupplier () const
void	SetVelocity (wpi::units::meters_per_second_t velocity, wpi::units::newton_t feedforwardForce)
wpi::units::second_t	GetClosedLoopControllerPeriod () const
void	StartClosedLoopController ()
void	StopClosedLoopController ()
void	IterateClosedLoopController ()
void	SetupTelemetry (std::shared_ptr< wpi::nt::NetworkTable > dataTable, std::shared_ptr< wpi::nt::NetworkTable > tuningTable)
void	SetupTelemetry ()
void	SetupLiveTuning ()
void	UpdateTelemetry ()
bool	TuningEnabled () const
void	ApplyTuningValues ()
void	StopLiveTuning ()
const std::vector< SmartMotorController * > &	GetLooselyCoupledFollowers () const
void	AddCloseHook (std::function< void()> hook)
SmartMotorController &	WithTelemetry (telemetry::SmartMotorControllerTelemetryConfig config)
ClosedLoopControllerSlot	GetClosedLoopControllerSlot () const
std::optional< wpi::units::turn_t >	GetMechanismPositionSetpoint () const
std::optional< wpi::units::turns_per_second_t >	GetMechanismSetpointVelocity () const
std::optional< wpi::units::meter_t >	GetMeasurementPositionSetpoint () const
std::optional< wpi::units::meters_per_second_t >	GetMeasurementSetpointVelocity () const
std::optional< wpi::units::newton_t >	GetSetpointFeedforwardForce () const
std::string	GetName () const
bool	IsMotor (const wpi::math::DCMotor &a, const wpi::math::DCMotor &b) const
void	CheckConfigSafety ()
void	Close ()

Additional Inherited Members
Protected Member Functions inherited from yams::motorcontrollers::SmartMotorController
void	LoadLooselyCoupledFollowers ()
void	ConfigureSoftwarePID (const SmartMotorControllerConfig &config)
void	ForwardPositionToFollowers (wpi::units::turn_t pos)
void	ForwardPositionToFollowers (wpi::units::meter_t dist)
void	ForwardVelocityToFollowers (wpi::units::turns_per_second_t vel)
void	ForwardVelocityToFollowers (wpi::units::meters_per_second_t vel)
const void *	BatterySimKey () const
Protected Attributes inherited from yams::motorcontrollers::SmartMotorController
SmartMotorControllerConfig *	m_config {nullptr}
ClosedLoopControllerSlot	m_slot {ClosedLoopControllerSlot::SLOT_0}
std::shared_ptr< SimSupplier >	m_simSupplier
std::vector< SmartMotorController * >	m_looseFollowers
std::optional< wpi::math::PIDController >	m_pid
std::optional< math::LQRController >	m_lqr
std::optional< wpi::math::TrapezoidProfile< wpi::units::turns >::State >	m_trapState
std::optional< wpi::math::ExponentialProfile< wpi::units::turns, wpi::units::volts >::State >	m_expoState
std::optional< wpi::math::TrapezoidProfile< wpi::units::meters >::State >	m_linearTrapState
std::optional< wpi::math::ExponentialProfile< wpi::units::meters, wpi::units::volts >::State >	m_linearExpoState
std::optional< wpi::units::turn_t >	m_lastClosedLoopMechanismPosition
std::optional< wpi::units::turn_t >	m_setpointPosition
std::optional< wpi::units::turns_per_second_t >	m_setpointVelocity
std::optional< wpi::units::newton_t >	m_setpointFeedforwardForce
std::vector< std::function< void()> >	m_closeHooks
std::unique_ptr< wpi::Notifier >	m_closedLoopControllerThread
bool	m_closedLoopControllerRunning {false}
std::shared_ptr< wpi::nt::NetworkTable >	m_parentTable
std::shared_ptr< wpi::nt::NetworkTable >	m_telemetryTable
std::shared_ptr< wpi::nt::NetworkTable >	m_tuningTable
telemetry::SmartMotorControllerTelemetry	m_telemetry
telemetry::SmartMotorControllerTelemetryConfig	m_telemetryConfig
bool	m_telemetryConfigExplicit {false}
std::shared_ptr< telemetry::SmartMotorControllerTelemetryConfig >	m_specifiedTelemetryConfig
bool	m_liveTuningRegistered {false}
bool	m_closed {false}

Detailed Description

SmartMotorController implementation for the CTRE TalonFXS motor controller (Phoenix 6).

The TalonFXS supports third-party brushed and brushless motors (e.g. REV NEO, Minion). Wraps a TalonFXS hardware object and exposes the full SmartMotorController interface including MotionMagic profiles, CANcoder/CANdi synchronization, and simulation support.

Example usage (inside a subsystem constructor)

using namespace yams::motorcontrollers;
using namespace yams::motorcontrollers::remote;
using namespace yams::gearing;
using Cfg = SmartMotorControllerConfig;
 
// Declare as subsystem members:
//   ctre::phoenix6::hardware::TalonFXS m_talonFXS{2};
//   std::optional<TalonFXSWrapper>      m_smc;
 
SmartMotorControllerConfig cfg;
cfg.WithSubsystem(this)
   .WithFeedback(4.0, 0.0, 0.0)
   .WithTrapezoidProfile(wpi::units::turns_per_second_t{0.5},
                         wpi::units::turns_per_second_squared_t{0.25})
   .WithMotorGearing(MechanismGearing{GearBox::FromReductionStages({3.0, 4.0})})
   .WithZeroPower(Cfg::MotorMode::BRAKE)
   .WithStatorCurrentLimit(40.0_A)
   .WithMotorInverted(false)
   .WithFeedforward(wpi::math::ArmFeedforward{
       0.0_V, 0.0_V, wpi::units::unit_t<wpi::math::ArmFeedforward::kv_unit>{0.0},
       wpi::units::unit_t<wpi::math::ArmFeedforward::ka_unit>{0.0}})
   .WithClosedLoopMode()
   .WithTelemetry("HoodMotor", Cfg::TelemetryVerbosity::HIGH);
 
m_smc.emplace(&m_talonFXS, DCMotor::NEO(1), MotorArrangement::NEO, &cfg);

Member Enumeration Documentation

MotorArrangement

enum class yams::motorcontrollers::remote::TalonFXSWrapper::MotorArrangement

strong

Motor type attached to the TalonFXS external motor port.

Enumerator
Minion
NEO
NEO550
NEOVortex
Brushed_2Wire
Brushed_3Wire

Constructor & Destructor Documentation

TalonFXSWrapper() [1/2]

yams::motorcontrollers::remote::TalonFXSWrapper::TalonFXSWrapper	(	ctre::phoenix6::hardware::TalonFXS *	talon,
		wpi::math::DCMotor	dcMotor,
		SmartMotorControllerConfig *	config
	)

Construct a TalonFXSWrapper for a brushless motor recognised from dcMotor (Minion, NEO, NEO 550 or NEO Vortex); throws std::invalid_argument for other motors.

Parameters

talon	TalonFXS hardware object (must outlive this wrapper).
dcMotor	DC motor model; selects the motor arrangement and is used for simulation.
config	Initial SmartMotorControllerConfig to apply.

TalonFXSWrapper() [2/2]

yams::motorcontrollers::remote::TalonFXSWrapper::TalonFXSWrapper	(	ctre::phoenix6::hardware::TalonFXS *	talon,
		wpi::math::DCMotor	dcMotor,
		MotorArrangement	arrangement,
		SmartMotorControllerConfig *	config
	)

Construct a TalonFXSWrapper.

The arrangement sets the TalonFXS commutation (MotorArrangement, and advanced hall support for a Minion). Throws SmartMotorControllerConfigurationException (or std::invalid_argument) if ApplyConfig() rejects the config; anything already started is released first.

Parameters

talon	TalonFXS hardware object (must outlive this wrapper).
dcMotor	DC motor model used for simulation.
arrangement	Motor type connected to the TalonFXS.
config	Initial SmartMotorControllerConfig to apply.

~TalonFXSWrapper()

yams::motorcontrollers::remote::TalonFXSWrapper::~TalonFXSWrapper

(

)

Calls Close() and releases the alerts.

Member Function Documentation

ApplyConfig()

bool yams::motorcontrollers::remote::TalonFXSWrapper::ApplyConfig ( const SmartMotorControllerConfig &  config )

overridevirtual

Apply a SmartMotorControllerConfig to the underlying hardware.

Parameters

config

Configuration to apply.

Returns

true if the configuration was applied successfully.

Implements yams::motorcontrollers::SmartMotorController.

DisableFOC()

TalonFXSWrapper & yams::motorcontrollers::remote::TalonFXSWrapper::DisableFOC

(

)

Disable FOC for the position and velocity control requests.

Throws SmartMotorControllerConfigurationException if a request is a TorqueCurrentFOC request.

Returns

*this for chaining.

EnableFOC()

TalonFXSWrapper & yams::motorcontrollers::remote::TalonFXSWrapper::EnableFOC

(

)

Enable FOC for the position and velocity control requests; ignored by unlicensed devices.

Throws SmartMotorControllerConfigurationException if a request is a TorqueCurrentFOC request (set through WithVendorControlRequest), which cannot toggle FOC.

Returns

*this for chaining.

ForceConfigApply()

ctre::phoenix::StatusCode yams::motorcontrollers::remote::TalonFXSWrapper::ForceConfigApply

(

)

Apply the whole TalonFXS configuration, retrying every 10 ms up to 10 times.

Returns

Status of the last attempt.

GetConfig()

SmartMotorControllerConfig & yams::motorcontrollers::remote::TalonFXSWrapper::GetConfig ( )

overridevirtual

Get a mutable reference to the current configuration.

Returns

Reference to the SmartMotorControllerConfig.

Implements yams::motorcontrollers::SmartMotorController.

GetDCMotor()

wpi::math::DCMotor yams::motorcontrollers::remote::TalonFXSWrapper::GetDCMotor ( )

overridevirtual

Get the DC motor model associated with this controller.

Returns

wpi::math::DCMotor model.

Implements yams::motorcontrollers::SmartMotorController.

GetDutyCycle()

double yams::motorcontrollers::remote::TalonFXSWrapper::GetDutyCycle ( )

overridevirtual

Get the current motor duty cycle.

Returns

Duty cycle in [-1, 1].

Implements yams::motorcontrollers::SmartMotorController.

GetExternalEncoderMechanismPosition()

std::optional< wpi::units::turn_t > yams::motorcontrollers::remote::TalonFXSWrapper::GetExternalEncoderMechanismPosition ( )

overridevirtual

Get the mechanism position from the external (absolute) encoder (applies the external encoder gearing). Available whether or not the external encoder is used for feedback.

Returns

Mechanism position in turns from the external encoder, or empty if none is attached.

Implements yams::motorcontrollers::SmartMotorController.

GetExternalEncoderMechanismVelocity()

std::optional< wpi::units::turns_per_second_t > yams::motorcontrollers::remote::TalonFXSWrapper::GetExternalEncoderMechanismVelocity ( )

overridevirtual

Get the mechanism velocity from the external (absolute) encoder (applies the external encoder gearing). Available whether or not the external encoder is used for feedback.

Returns

Mechanism velocity in turns per second from the external encoder, or empty if none is attached.

Implements yams::motorcontrollers::SmartMotorController.

GetMeasurementAcceleration()

wpi::units::meters_per_second_squared_t yams::motorcontrollers::remote::TalonFXSWrapper::GetMeasurementAcceleration ( )

overridevirtual

Get the linear measurement acceleration.

Returns

Linear acceleration in meters per second squared.

Implements yams::motorcontrollers::SmartMotorController.

GetMeasurementPosition()

wpi::units::meter_t yams::motorcontrollers::remote::TalonFXSWrapper::GetMeasurementPosition ( )

overridevirtual

Get the linear measurement position (applies circumference conversion).

Returns

Linear position in meters.

Implements yams::motorcontrollers::SmartMotorController.

GetMeasurementVelocity()

wpi::units::meters_per_second_t yams::motorcontrollers::remote::TalonFXSWrapper::GetMeasurementVelocity ( )

overridevirtual

Get the linear measurement velocity (applies circumference conversion).

Returns

Linear velocity in meters per second.

Implements yams::motorcontrollers::SmartMotorController.

GetMechanismAcceleration()

wpi::units::turns_per_second_squared_t yams::motorcontrollers::remote::TalonFXSWrapper::GetMechanismAcceleration ( )

overridevirtual

Get the mechanism acceleration (derived from velocity).

Returns

Mechanism acceleration in turns per second squared.

Implements yams::motorcontrollers::SmartMotorController.

GetMechanismPosition()

wpi::units::turn_t yams::motorcontrollers::remote::TalonFXSWrapper::GetMechanismPosition ( )

overridevirtual

Get the mechanism position (applies gearing). Uses the external (absolute) encoder when one is configured with SmartMotorControllerConfig::WithUseExternalFeedbackEncoder(), otherwise the relative encoder. Use GetRelativeMechanismPosition() to only read the relative encoder.

Returns

Mechanism position in turns.

Implements yams::motorcontrollers::SmartMotorController.

GetMechanismVelocity()

wpi::units::turns_per_second_t yams::motorcontrollers::remote::TalonFXSWrapper::GetMechanismVelocity ( )

overridevirtual

Get the mechanism velocity (applies gearing). Uses the external (absolute) encoder when one is configured with SmartMotorControllerConfig::WithUseExternalFeedbackEncoder(), otherwise the relative encoder. Use GetRelativeMechanismVelocity() to only read the relative encoder.

Returns

Mechanism velocity in turns per second.

Implements yams::motorcontrollers::SmartMotorController.

GetMotorController()

void * yams::motorcontrollers::remote::TalonFXSWrapper::GetMotorController ( )

overridevirtual

Get a raw pointer to the underlying TalonFXS hardware object.

Returns

Pointer to the ctre::phoenix6::hardware::TalonFXS instance.

Implements yams::motorcontrollers::SmartMotorController.

GetMotorControllerConfig()

void * yams::motorcontrollers::remote::TalonFXSWrapper::GetMotorControllerConfig ( )

overridevirtual

Get a raw pointer to the TalonFXSConfiguration used by this wrapper.

Returns

Pointer to the ctre::phoenix6::configs::TalonFXSConfiguration instance.

Implements yams::motorcontrollers::SmartMotorController.

GetRelativeMechanismPosition()

wpi::units::turn_t yams::motorcontrollers::remote::TalonFXSWrapper::GetRelativeMechanismPosition ( )

overridevirtual

Get the mechanism position from the relative encoder in the motor (applies gearing). Never uses the external (absolute) encoder.

Returns

Mechanism position in turns from the relative encoder.

Implements yams::motorcontrollers::SmartMotorController.

GetRelativeMechanismVelocity()

wpi::units::turns_per_second_t yams::motorcontrollers::remote::TalonFXSWrapper::GetRelativeMechanismVelocity ( )

overridevirtual

Get the mechanism velocity from the relative encoder in the motor (applies gearing). Never uses the external (absolute) encoder.

Returns

Mechanism velocity in turns per second from the relative encoder.

Implements yams::motorcontrollers::SmartMotorController.

GetRotorPosition()

wpi::units::turn_t yams::motorcontrollers::remote::TalonFXSWrapper::GetRotorPosition ( )

overridevirtual

Get the raw rotor position (no gearing applied).

Returns

Rotor position in turns.

Implements yams::motorcontrollers::SmartMotorController.

GetRotorVelocity()

wpi::units::turns_per_second_t yams::motorcontrollers::remote::TalonFXSWrapper::GetRotorVelocity ( )

overridevirtual

Get the raw rotor velocity (no gearing applied).

Returns

Rotor velocity in turns per second.

Implements yams::motorcontrollers::SmartMotorController.

GetStatorCurrent()

wpi::units::ampere_t yams::motorcontrollers::remote::TalonFXSWrapper::GetStatorCurrent ( )

overridevirtual

Get the stator (output) current draw.

Returns

Stator current.

Implements yams::motorcontrollers::SmartMotorController.

GetSupplyCurrent()

std::optional< wpi::units::ampere_t > yams::motorcontrollers::remote::TalonFXSWrapper::GetSupplyCurrent ( )

overridevirtual

Get the supply (input) current draw.

Returns

Supply current, or empty if not supported by the hardware.

Implements yams::motorcontrollers::SmartMotorController.

GetTemperature()

wpi::units::celsius_t yams::motorcontrollers::remote::TalonFXSWrapper::GetTemperature ( )

overridevirtual

Get the motor controller temperature.

Returns

Temperature in degrees Celsius.

Implements yams::motorcontrollers::SmartMotorController.

GetUnsupportedTelemetryFields()

telemetry::UnsupportedTelemetryFields yams::motorcontrollers::remote::TalonFXSWrapper::GetUnsupportedTelemetryFields ( )

overridevirtual

Return telemetry fields not supported by this motor controller implementation.

Subclasses override this to disable fields for hardware that lacks certain signals (e.g. SPARK controllers do not expose supply current).

Returns

Struct with optional lists of unsupported boolean and double fields.

Reimplemented from yams::motorcontrollers::SmartMotorController.

GetVelocityMeasurementDelay()

std::optional< wpi::units::second_t > yams::motorcontrollers::remote::TalonFXSWrapper::GetVelocityMeasurementDelay ( ) const

overridevirtual

Phoenix 6 filters velocity with a Kalman filter tuned for the least latency, about 1 ms, as WPILib's SysId takes it for its CTRE Phoenix 6 preset. A closed loop run on the SystemCore reads the velocity from its status signal instead, which on average is half the signal's update period older. Phoenix 6 simulates the Talon in its own thread with the same filtering, so the delay is the same in simulation.

Reimplemented from yams::motorcontrollers::SmartMotorController.

GetVoltage()

wpi::units::volt_t yams::motorcontrollers::remote::TalonFXSWrapper::GetVoltage ( )

overridevirtual

Get the voltage currently applied to the motor.

Returns

Applied voltage.

Implements yams::motorcontrollers::SmartMotorController.

SeedRelativeEncoder()

void yams::motorcontrollers::remote::TalonFXSWrapper::SeedRelativeEncoder ( )

overridevirtual

TalonFXS uses an absolute sensor internally; has no effect.

Implements yams::motorcontrollers::SmartMotorController.

SetClosedLoopRampRate()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetClosedLoopRampRate ( wpi::units::second_t  rampRate )

overridevirtual

Set the closed-loop output ramp rate.

Parameters

rampRate

Time to ramp from 0 to full output.

Implements yams::motorcontrollers::SmartMotorController.

SetClosedLoopSlot()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetClosedLoopSlot ( ClosedLoopControllerSlot  slot )

overridevirtual

Select the active closed-loop gain slot and forward it to loosely coupled followers. TalonFXS supports 3 slots (SLOT_0 through SLOT_2); throws std::invalid_argument for SLOT_3.

Parameters

slot	Gain slot to activate.

Implements yams::motorcontrollers::SmartMotorController.

SetDutyCycle()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetDutyCycle ( double  dutyCycle )

overridevirtual

Command a duty-cycle output to the motor.

Parameters

dutyCycle

Normalized duty cycle in [-1, 1].

Implements yams::motorcontrollers::SmartMotorController.

SetEncoderInverted()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetEncoderInverted ( bool  inverted )

overridevirtual

Set the external feedback sensor phase (SensorPhase Opposed when inverted).

Implements yams::motorcontrollers::SmartMotorController.

SetEncoderPosition() [1/2]

void yams::motorcontrollers::remote::TalonFXSWrapper::SetEncoderPosition ( wpi::units::meter_t  distance )

overridevirtual

Write a linear distance into the encoder (seeds the position). Converts distance to turns using the configured mechanism circumference.

Parameters

distance

Linear distance to write.

Implements yams::motorcontrollers::SmartMotorController.

SetEncoderPosition() [2/2]

void yams::motorcontrollers::remote::TalonFXSWrapper::SetEncoderPosition ( wpi::units::turn_t  angle )

overridevirtual

Write a mechanism angle into the encoder (seeds the position).

Parameters

angle

Mechanism angle to write.

Implements yams::motorcontrollers::SmartMotorController.

SetEncoderVelocity() [1/2]

void yams::motorcontrollers::remote::TalonFXSWrapper::SetEncoderVelocity ( wpi::units::meters_per_second_t  velocity )

overridevirtual

Not applicable to TalonFXS; has no effect.

Implements yams::motorcontrollers::SmartMotorController.

SetEncoderVelocity() [2/2]

void yams::motorcontrollers::remote::TalonFXSWrapper::SetEncoderVelocity ( wpi::units::turns_per_second_t  velocity )

overridevirtual

Not applicable to TalonFXS; has no effect.

Implements yams::motorcontrollers::SmartMotorController.

SetExponentialProfile()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetExponentialProfile ( std::optional< double >  kV, std::optional< double >  kA, std::optional< wpi::units::volt_t >  maxInput  )

overridevirtual

Configure or update the exponential motion profile parameters.

Parameters

kV	Optional velocity constant (empty keeps the current value).
kA	Optional acceleration constant (empty keeps the current value).
maxInput	Optional maximum voltage input (empty keeps the current value).

Implements yams::motorcontrollers::SmartMotorController.

SetFeedback()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetFeedback ( double  kP, double  kI, double  kD  )

overridevirtual

Set all three PID feedback gains at once (live update).

Parameters

kP	Proportional gain.
kI	Integral gain.
kD	Derivative gain.

Implements yams::motorcontrollers::SmartMotorController.

SetFeedforward()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetFeedforward ( double  kS, double  kV, double  kA, double  kG  )

overridevirtual

Set all four feedforward gains at once (live update).

Parameters

kS	Static friction voltage.
kV	Velocity feedforward coefficient.
kA	Acceleration feedforward coefficient.
kG	Gravity feedforward coefficient.

Implements yams::motorcontrollers::SmartMotorController.

SetKa()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetKa ( double  kA )

overridevirtual

Set the acceleration feedforward coefficient (live update).

Parameters

kA	Acceleration feedforward coefficient.

Implements yams::motorcontrollers::SmartMotorController.

SetKd()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetKd ( double  kD )

overridevirtual

Set the derivative gain (live update).

Parameters

kD	Derivative gain.

Implements yams::motorcontrollers::SmartMotorController.

SetKg()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetKg ( double  kG )

overridevirtual

Set the gravity feedforward coefficient (live update).

Parameters

kG	Gravity feedforward coefficient.

Implements yams::motorcontrollers::SmartMotorController.

SetKi()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetKi ( double  kI )

overridevirtual

Set the integral gain (live update).

Parameters

kI	Integral gain.

Implements yams::motorcontrollers::SmartMotorController.

SetKp()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetKp ( double  kP )

overridevirtual

Set the proportional gain (live update).

Parameters

kP	Proportional gain.

Implements yams::motorcontrollers::SmartMotorController.

SetKs()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetKs ( double  kS )

overridevirtual

Set the static friction feedforward (live update).

Parameters

kS	Static friction voltage.

Implements yams::motorcontrollers::SmartMotorController.

SetKv()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetKv ( double  kV )

overridevirtual

Set the velocity feedforward coefficient (live update).

Parameters

kV	Velocity feedforward coefficient.

Implements yams::motorcontrollers::SmartMotorController.

SetMeasurementLowerLimit()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetMeasurementLowerLimit ( wpi::units::meter_t  lowerLimit )

overridevirtual

Set the lower linear soft limit for the measurement. Converts the lower limit to turns using the configured mechanism circumference.

Parameters

lowerLimit

Lower distance limit.

Implements yams::motorcontrollers::SmartMotorController.

SetMeasurementUpperLimit()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetMeasurementUpperLimit ( wpi::units::meter_t  upperLimit )

overridevirtual

Set the upper linear soft limit for the measurement. Converts the upper limit to turns using the configured mechanism circumference.

Parameters

upperLimit

Upper distance limit.

Implements yams::motorcontrollers::SmartMotorController.

SetMechanismCircumference()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetMechanismCircumference ( wpi::units::meter_t  circumference )

overridevirtual

Update the mechanism circumference, rewrite the values converted with it (linear gains and motion profile constraints) and forward it to loosely coupled followers.

Parameters

circumference

New mechanism circumference.

Reimplemented from yams::motorcontrollers::SmartMotorController.

SetMechanismGearing()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetMechanismGearing ( const gearing::MechanismGearing &  gearing )

overridevirtual

Update the mechanism gearing and the TalonFXS sensor ratios that depend on it.

Parameters

gearing

New mechanism gearing.

Reimplemented from yams::motorcontrollers::SmartMotorController.

SetMechanismLimits()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetMechanismLimits ( wpi::units::turn_t  lower, wpi::units::turn_t  upper  )

overridevirtual

Set both angular soft limits for the mechanism.

Parameters

lower	Lower angle limit.
upper	Upper angle limit.

Implements yams::motorcontrollers::SmartMotorController.

SetMechanismLimitsEnabled()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetMechanismLimitsEnabled ( bool  enabled )

overridevirtual

Enable or disable the mechanism angular soft limits.

Parameters

enabled

true to enforce the limits.

Implements yams::motorcontrollers::SmartMotorController.

SetMechanismLowerLimit()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetMechanismLowerLimit ( wpi::units::turn_t  lowerLimit )

overridevirtual

Set the lower angular soft limit for the mechanism.

Parameters

lowerLimit

Lower angle limit.

Implements yams::motorcontrollers::SmartMotorController.

SetMechanismUpperLimit()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetMechanismUpperLimit ( wpi::units::turn_t  upperLimit )

overridevirtual

Set the upper angular soft limit for the mechanism.

Parameters

upperLimit

Upper angle limit.

Implements yams::motorcontrollers::SmartMotorController.

SetMotionProfileMaxAcceleration() [1/2]

void yams::motorcontrollers::remote::TalonFXSWrapper::SetMotionProfileMaxAcceleration ( wpi::units::meters_per_second_squared_t  maxAcc )

overridevirtual

Set the maximum linear acceleration for the motion profile. Converts linear acceleration to turns per second squared using the configured mechanism circumference.

Parameters

maxAcc

Maximum linear acceleration.

Implements yams::motorcontrollers::SmartMotorController.

SetMotionProfileMaxAcceleration() [2/2]

void yams::motorcontrollers::remote::TalonFXSWrapper::SetMotionProfileMaxAcceleration ( wpi::units::turns_per_second_squared_t  maxAcc )

overridevirtual

SmartMotorController::SetMotionProfileMaxAcceleration(wpi::units::turns_per_second_squared_t)

Implements yams::motorcontrollers::SmartMotorController.

SetMotionProfileMaxJerk()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetMotionProfileMaxJerk ( wpi::units::angular_jerk::turns_per_second_cubed_t  maxJerk )

overridevirtual

Set the maximum angular jerk for the motion profile.

Parameters

maxJerk

Maximum angular jerk (degrees/s²/s).

Implements yams::motorcontrollers::SmartMotorController.

SetMotionProfileMaxVelocity() [1/2]

void yams::motorcontrollers::remote::TalonFXSWrapper::SetMotionProfileMaxVelocity ( wpi::units::meters_per_second_t  maxVelocity )

overridevirtual

Set the maximum linear velocity for the motion profile. Converts linear velocity to turns per second using the configured mechanism circumference.

Parameters

maxVelocity

Maximum linear velocity.

Implements yams::motorcontrollers::SmartMotorController.

SetMotionProfileMaxVelocity() [2/2]

void yams::motorcontrollers::remote::TalonFXSWrapper::SetMotionProfileMaxVelocity ( wpi::units::turns_per_second_t  maxVelocity )

overridevirtual

Set the maximum angular velocity for the motion profile.

Parameters

maxVelocity

Maximum mechanism angular velocity.

Implements yams::motorcontrollers::SmartMotorController.

SetMotorInverted()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetMotorInverted ( bool  inverted )

overridevirtual

Set the motor output direction.

Parameters

inverted

true to invert the motor direction.

Implements yams::motorcontrollers::SmartMotorController.

SetOpenLoopRampRate()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetOpenLoopRampRate ( wpi::units::second_t  rampRate )

overridevirtual

Set the open-loop output ramp rate.

Parameters

rampRate

Time to ramp from 0 to full output.

Implements yams::motorcontrollers::SmartMotorController.

SetPosition() [1/2]

void yams::motorcontrollers::remote::TalonFXSWrapper::SetPosition ( wpi::units::meter_t  distance )

overridevirtual

Command a linear measurement position setpoint (closed-loop). Converts distance to turns using the configured mechanism circumference.

Parameters

distance

Target linear distance.

Implements yams::motorcontrollers::SmartMotorController.

SetPosition() [2/2]

void yams::motorcontrollers::remote::TalonFXSWrapper::SetPosition ( wpi::units::turn_t  angle )

overridevirtual

Command a mechanism angle position setpoint (closed-loop).

Parameters

angle

Target mechanism angle.

Implements yams::motorcontrollers::SmartMotorController.

SetStatorCurrentLimit()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetStatorCurrentLimit ( wpi::units::ampere_t  currentLimit )

overridevirtual

Set the stator (output) current limit.

Parameters

currentLimit

Maximum stator current.

Implements yams::motorcontrollers::SmartMotorController.

SetSupplyCurrentLimit()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetSupplyCurrentLimit ( wpi::units::ampere_t  currentLimit )

overridevirtual

Set the supply (input) current limit.

Parameters

currentLimit

Maximum supply current.

Implements yams::motorcontrollers::SmartMotorController.

SetUpdateFrequency()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetUpdateFrequency

(

wpi::units::hertz_t

frequency

)

Set the update frequency of the status signals this controller reads.

Parameters

frequency

Update frequency.

SetupSimulation()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetupSimulation ( )

overridevirtual

Initialize the DCMotorSim used for simulation.

Implements yams::motorcontrollers::SmartMotorController.

SetVelocity() [1/7]

void yams::motorcontrollers::remote::TalonFXSWrapper::SetVelocity ( wpi::units::meters_per_second_t  velocity )

overridevirtual

Command a linear measurement velocity setpoint (closed-loop). Converts linear velocity to turns per second using the configured mechanism circumference.

Parameters

velocity

Target linear velocity.

Implements yams::motorcontrollers::SmartMotorController.

SetVelocity() [2/7]

virtual void yams::motorcontrollers::SmartMotorController::SetVelocity ( wpi::units::meters_per_second_t  velocity )

virtual

Command a linear measurement velocity setpoint (closed-loop).

Parameters

velocity

Target linear velocity.

Implements yams::motorcontrollers::SmartMotorController.

SetVelocity() [3/7]

void yams::motorcontrollers::SmartMotorController::SetVelocity	(	wpi::units::meters_per_second_t	velocity,
		wpi::units::newton_t	feedforwardForce
	)

Command a linear velocity setpoint with an additional feedforward force applied on top.

Throws SmartMotorControllerConfigurationException if the mechanism circumference is not configured.

Parameters

velocity	Target linear velocity.
feedforwardForce	Additional feedforward force at the mechanism.

SetVelocity() [4/7]

void yams::motorcontrollers::remote::TalonFXSWrapper::SetVelocity ( wpi::units::turns_per_second_t  velocity )

overridevirtual

Command a mechanism angular velocity setpoint (closed-loop).

Parameters

velocity

Target mechanism angular velocity.

Implements yams::motorcontrollers::SmartMotorController.

SetVelocity() [5/7]

virtual void yams::motorcontrollers::SmartMotorController::SetVelocity ( wpi::units::turns_per_second_t  velocity )

virtual

Command a mechanism angular velocity setpoint (closed-loop).

Parameters

velocity

Target mechanism angular velocity.

Implements yams::motorcontrollers::SmartMotorController.

SetVelocity() [6/7]

virtual void yams::motorcontrollers::SmartMotorController::SetVelocity ( wpi::units::turns_per_second_t  velocity, wpi::units::newton_t  feedforwardForce  )

virtual

Command a mechanism angular velocity setpoint with an additional feedforward force applied on top, e.g. from a path-following set-point generator.

The force is converted to a voltage with SmartMotorControllerConfig::ConvertToVoltage and added by the RoboRIO closed-loop controller, so the mechanism circumference must be set.

Parameters

velocity	Target mechanism angular velocity.
feedforwardForce	Additional feedforward force at the mechanism.

Reimplemented from yams::motorcontrollers::SmartMotorController.

SetVelocity() [7/7]

void yams::motorcontrollers::remote::TalonFXSWrapper::SetVelocity ( wpi::units::turns_per_second_t  velocity, wpi::units::newton_t  feedforwardForce  )

overridevirtual

Command a velocity setpoint with an additional feedforward force, applied by the TalonFXS as an arbitrary feedforward (duty cycle, volts or TorqueCurrentFOC amps depending on the request). With an LQR the RoboRIO loop adds it instead.

Throws SmartMotorControllerConfigurationException if the mechanism circumference is not set.

Parameters

velocity	Target mechanism angular velocity.
feedforwardForce	Additional feedforward force at the mechanism.

Reimplemented from yams::motorcontrollers::SmartMotorController.

SetVoltage()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetVoltage ( wpi::units::volt_t  voltage )

overridevirtual

Command a voltage output to the motor.

Parameters

voltage

Voltage to apply.

Implements yams::motorcontrollers::SmartMotorController.

SetZeroPower()

void yams::motorcontrollers::remote::TalonFXSWrapper::SetZeroPower ( MotorMode  mode )

overridevirtual

Set the idle (neutral) mode of the motor.

Parameters

mode	COAST or BRAKE.

Implements yams::motorcontrollers::SmartMotorController.

SimIterate()

void yams::motorcontrollers::remote::TalonFXSWrapper::SimIterate ( )

overridevirtual

Advance the motor simulation by one loop iteration.

Implements yams::motorcontrollers::SmartMotorController.

SynchronizeRelativeEncoder()

void yams::motorcontrollers::remote::TalonFXSWrapper::SynchronizeRelativeEncoder ( )

overridevirtual

The TalonFXS fuses its feedback sources on the device; has no effect.

Implements yams::motorcontrollers::SmartMotorController.

UseCANdiPWM1()

bool yams::motorcontrollers::remote::TalonFXSWrapper::UseCANdiPWM1

(

)

const

Whether CANdi PWM1 is the feedback sensor of the configuration being applied.

Throws std::invalid_argument if it is but no CANdi is configured as the external encoder.

Returns

true if the feedback sensor source is a CANdi PWM1 source.

UseCANdiPWM2()

bool yams::motorcontrollers::remote::TalonFXSWrapper::UseCANdiPWM2

(

)

const

Whether CANdi PWM2 is the feedback sensor of the configuration being applied.

Throws std::invalid_argument if it is but no CANdi is configured as the external encoder.

Returns

true if the feedback sensor source is a CANdi PWM2 source.

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

• /home/runner/work/YAMS/YAMS/yams/cpp/include/yams/motorcontrollers/remote/TalonFXSWrapper.hpp