Package frclib.motor

Class FrcCANPhoenix6Controller<T extends com.ctre.phoenix6.hardware.core.CoreTalonFX>

java.lang.Object

trclib.motor.TrcMotor

frclib.motor.FrcCANPhoenix6Controller<T>

All Implemented Interfaces:

TrcMotorController, TrcExclusiveSubsystem, TrcOdometrySensor

Direct Known Subclasses:

FrcCANTalonFX

public abstract class FrcCANPhoenix6Controller<T extends com.ctre.phoenix6.hardware.core.CoreTalonFX>
extends TrcMotor

Nested Class Summary

Nested classes/interfaces inherited from class trclib.motor.TrcMotor

TrcMotor.ExternalSensors, TrcMotor.FollowerMotor, TrcMotor.PowerCompensation

Nested classes/interfaces inherited from interface trclib.robotcore.TrcExclusiveSubsystem

TrcExclusiveSubsystem.OwnershipParams

Nested classes/interfaces inherited from interface trclib.sensor.TrcOdometrySensor

TrcOdometrySensor.Odometry

Field Summary

Fields

Modifier and Type	Field	Description
final T	motor

Fields inherited from class trclib.motor.TrcMotor

instanceName, motorGetPositionElapsedTimer, motorSetCurrentElapsedTimer, motorSetPositionElapsedTimer, motorSetPowerElapsedTimer, motorSetVelocityElapsedTimer, tracer

Constructor Summary

Constructors

Constructor	Description
FrcCANPhoenix6Controller(String instanceName, T coreTalonFx)	Constructor: Create an instance of the object.
FrcCANPhoenix6Controller(String instanceName, T coreTalonFx, TrcMotor.ExternalSensors sensors)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
void	disableMotionProfile()	This method disables motion profile support.
void	disableMotorFwdLimitSwitch()	This method disables the forward limit switch.
void	disableMotorRevLimitSwitch()	This method disables the reverse limit switch.
void	enableMotionProfile(double velocity, double acceleration, double jerk)	This method enables motion profile support.
void	enableMotorFwdLimitSwitch(boolean normalClose)	This method enables the forward limit switch and configures it to the specified type.
void	enableMotorRevLimitSwitch(boolean normalClose)	This method enables the reverse limit switch and configures it to the specified type.
void	follow(TrcMotor otherMotor, boolean inverted, double scale)	This method sets this motor to follow another motor.
double	getBusVoltage()	This method returns the bus voltage of the motor controller.
edu.wpi.first.util.sendable.Sendable	getEncoderSendable()	This method creates an EncoderInfo object and returns it.
int	getErrorCount()	This method returns the number of error responses seen from the motor after sending a command.
com.ctre.phoenix6.StatusCode	getLastStatus()	The method returns the last error code.
double	getMotorCurrent()	This method returns the motor current.
TrcPidController.PidCoefficients	getMotorCurrentPidCoefficients()	This method returns the PID coefficients of the motor controller's current PID controller.
double	getMotorPosition()	This method returns the motor position by reading the position sensor.
TrcPidController.PidCoefficients	getMotorPositionPidCoefficients()	This method returns the PID coefficients of the motor controller's position PID controller.
double	getMotorPower()	This method gets the current motor power.
double	getMotorVelocity()	This method returns the current motor velocity.
TrcPidController.PidCoefficients	getMotorVelocityPidCoefficients()	This method returns the PID coefficients of the motor controller's velocity PID controller.
boolean	isMotorFwdLimitSwitchActive()	This method returns the state of the forward limit switch.
boolean	isMotorFwdLimitSwitchEnabled()	This method checks if the forward limit switch is enabled.
boolean	isMotorInverted()	This method checks if the motor direction is inverted.
boolean	isMotorPositionSensorInverted()	This method returns the state of the position sensor direction.
boolean	isMotorRevLimitSwitchActive()	This method returns the state of the reverse limit switch.
boolean	isMotorRevLimitSwitchEnabled()	This method checks if the reverse limit switch is enabled.
boolean	isVoltageCompensationEnabled()	This method checks if voltage compensation is enabled.
protected com.ctre.phoenix6.StatusCode	recordResponseCode(String operation, com.ctre.phoenix6.StatusCode statusCode)	This method checks for error code returned by the motor controller executing the last command.
void	resetFactoryDefault()	This method resets the motor controller configurations to factory default so that everything is at known state.
void	resetMotorPosition()	This method resets the motor position sensor, typically an encoder.
void	setBrakeModeEnabled(boolean enabled)	This method enables/disables motor brake mode.
void	setCloseLoopRampRate(double rampTime)	This method sets the close loop ramp rate.
void	setCurrentLimit(double currentLimit, double triggerThresholdCurrent, double triggerThresholdTime)	This method sets the current limit of the motor.
void	setFeedbackDevice(com.ctre.phoenix6.signals.FeedbackSensorSourceValue sensorSource)	This method sets the feedback sensor source.
void	setFeedbackDevice(com.ctre.phoenix6.signals.FeedbackSensorSourceValue sensorSource, int remoteSensorId)	This method sets the feedback sensor source.
void	setMotorCurrent(double current)	This method commands the motor to spin at the given current value using close loop control.
void	setMotorCurrentPidCoefficients(TrcPidController.PidCoefficients pidCoeff)	This method sets the PID coefficients of the motor controller's current PID controller.
void	setMotorFwdLimitSwitchInverted(boolean inverted)	This method inverts the active state of the forward limit switch, typically reflecting whether the switch is wired normally open or normally close.
void	setMotorFwdSoftPositionLimit(Double limit)	This method sets the soft position limit for the forward direction.
void	setMotorInverted(boolean inverted)	This method inverts the spinning direction of the motor.
void	setMotorPosition(double position, Double powerLimit, double velocity, double feedForward)	This method commands the motor to go to the given position using close loop control and optionally limits the power of the motor movement.
void	setMotorPositionPidCoefficients(TrcPidController.PidCoefficients pidCoeff)	This method sets the PID coefficients of the motor controller's position PID controller.
void	setMotorPositionSensorInverted(boolean inverted)	This method inverts the position sensor direction.
void	setMotorPower(double power)	This method sets the motor power.
void	setMotorRevLimitSwitchInverted(boolean inverted)	This method inverts the active state of the reverse limit switch, typically reflecting whether the switch is wired normally open or normally close.
void	setMotorRevSoftPositionLimit(Double limit)	This method sets the soft position limit for the reverse direction.
void	setMotorVelocity(double velocity, double acceleration, double feedForward)	This method commands the motor to spin at the given velocity using close loop control.
void	setMotorVelocityPidCoefficients(TrcPidController.PidCoefficients pidCoeff)	This method sets the PID coefficients of the motor controller's velocity PID controller.
void	setOpenLoopRampRate(double rampTime)	This method sets the open loop ramp rate.
void	setStatorCurrentLimit(double currentLimit)	This method sets the stator current limit of the motor.
void	setVoltageCompensationEnabled(Double batteryNominalVoltage)	This method enables/disables voltage compensation so that it will maintain the motor output regardless of battery voltage.

Methods inherited from class trclib.motor.TrcMotor

addFollower, cancel, clearOdometryMotorsList, convertPositionToScaledUnits, convertPositionToSensorUnits, disableLowerLimitSwitch, disableUpperLimitSwitch, enableLowerLimitSwitch, enableUpperLimitSwitch, follow, getCurrent, getCurrentOnTarget, getCurrentPidCoefficients, getCurrentPidController, getEncoderRawPosition, getFollower, getName, getNumOdometryMotors, getOdometry, getPidTarget, getPosition, getPositionOnTarget, getPositionPidCoefficients, getPositionPidController, getPower, getVelocity, getVelocityOnTarget, getVelocityPidCoefficients, getVelocityPidController, isCalibrating, isLowerLimitSwitchActive, isLowerLimitSwitchEnabled, isOdometryEnabled, isPositionSensorInverted, isUpperLimitSwitchActive, isUpperLimitSwitchEnabled, presetPositionDown, presetPositionUp, presetVelocityDown, presetVelocityUp, printElapsedTime, printPidControlTaskPerformance, resetOdometry, resetPosition, resetPosition, resetPositionOnLowerLimitSwitch, resetPositionOnLowerLimitSwitch, resetPositionOnLowerLimitSwitch, resetPositionOnLowerLimitSwitch, setBeep, setBeep, setCurrent, setCurrent, setCurrent, setCurrent, setCurrentPidParameters, setCurrentPidParameters, setCurrentPidParameters, setCurrentPidPowerComp, setCurrentPidTolerance, setElapsedTimerEnabled, setLimitSwitchesSwapped, setLowerLimitSwitchInverted, setOdometryEnabled, setPerformanceMonitorEnabled, setPidPower, setPidPower, setPidStallDetectionEnabled, setPidStallDetectionEnabled, setPosition, setPosition, setPosition, setPosition, setPosition, setPosition, setPosition, setPositionPidParameters, setPositionPidParameters, setPositionPidParameters, setPositionPidPowerComp, setPositionPidTolerance, setPositionSensorInverted, setPositionSensorScaleAndOffset, setPositionSensorScaleAndOffset, setPower, setPower, setPower, setPower, setPresetPosition, setPresets, setPresetVelocity, setSoftPositionLimits, setSoftwarePidEnabled, setStallProtection, setTraceLevel, setUpperLimitSwitchInverted, setVelocity, setVelocity, setVelocity, setVelocity, setVelocityParameters, setVelocityPidParameters, setVelocityPidParameters, setVelocityPidPowerComp, setVelocityPidTolerance, stop, toString, zeroCalibrate, zeroCalibrate, zeroCalibrate, zeroCalibrate, zeroCalibrate, zeroCalibrate

Methods inherited from class java.lang.Object

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

Methods inherited from interface trclib.robotcore.TrcExclusiveSubsystem

acquireExclusiveAccess, acquireOwnership, cancelExclusiveAccess, getCurrentOwner, hasOwnership, releaseExclusiveAccess, releaseOwnership, validateOwnership

Methods inherited from interface trclib.sensor.TrcOdometrySensor

getOdometries, getOdometry

Field Details

motor

public final T extends com.ctre.phoenix6.hardware.core.CoreTalonFX motor

Constructor Details

FrcCANPhoenix6Controller

public FrcCANPhoenix6Controller(String instanceName,
 T coreTalonFx,
 TrcMotor.ExternalSensors sensors)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

coreTalonFx - the base talon FX object.

sensors - specifies external sensors, can be null if none.

FrcCANPhoenix6Controller

public FrcCANPhoenix6Controller(String instanceName,
 T coreTalonFx)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

coreTalonFx - the base talon FX object.

Method Details

getEncoderSendable

public edu.wpi.first.util.sendable.Sendable getEncoderSendable()

This method creates an EncoderInfo object and returns it.

Returns:

created GyroInfo object.

getErrorCount

public int getErrorCount()

This method returns the number of error responses seen from the motor after sending a command.

Returns:

The number of non-OK error code responses seen from the motor after sending a command.

getLastStatus

public com.ctre.phoenix6.StatusCode getLastStatus()

The method returns the last error code. If there is none, null is returned.

Returns:

last error code.

recordResponseCode

protected com.ctre.phoenix6.StatusCode recordResponseCode(String operation,
 com.ctre.phoenix6.StatusCode statusCode)

This method checks for error code returned by the motor controller executing the last command. If there was an error, the error count is incremented.

Parameters:

operation - specifies the operation that failed.

statusCode - specifies the status code returned by the motor controller.

setFeedbackDevice

public void setFeedbackDevice(com.ctre.phoenix6.signals.FeedbackSensorSourceValue sensorSource,
 int remoteSensorId)

This method sets the feedback sensor source.

Parameters:

sensorSource - specifies the feedback sensor source.

remoteSensorId - specifies the CAN ID of the remote sensor (only applicable for remote sensor source), 0 if not applicable.

setFeedbackDevice

public void setFeedbackDevice(com.ctre.phoenix6.signals.FeedbackSensorSourceValue sensorSource)

This method sets the feedback sensor source.

Parameters:

sensorSource - specifies the feedback sensor source.

resetFactoryDefault

public void resetFactoryDefault()

This method resets the motor controller configurations to factory default so that everything is at known state.

getBusVoltage

public double getBusVoltage()

This method returns the bus voltage of the motor controller.

Returns:

bus voltage of the motor controller.

setCurrentLimit

public void setCurrentLimit(double currentLimit,
 double triggerThresholdCurrent,
 double triggerThresholdTime)

This method sets the current limit of the motor.

Parameters:

currentLimit - specifies the current limit (holding current) in amperes when feature is activated.

triggerThresholdCurrent - specifies threshold current in amperes to be exceeded before limiting occurs. If this value is less than currentLimit, then currentLimit is used as the threshold.

triggerThresholdTime - specifies how long current must exceed threshold (seconds) before limiting occurs.

setStatorCurrentLimit

public void setStatorCurrentLimit(double currentLimit)

This method sets the stator current limit of the motor.

Parameters:

currentLimit - specifies the stator current limit in amperes.

setCloseLoopRampRate

public void setCloseLoopRampRate(double rampTime)

This method sets the close loop ramp rate.

Parameters:

rampTime - specifies the ramp time in seconds from neutral to full speed.

setOpenLoopRampRate

public void setOpenLoopRampRate(double rampTime)

This method sets the open loop ramp rate.

Parameters:

rampTime - specifies the ramp time in seconds from neutral to full speed.

setBrakeModeEnabled

public void setBrakeModeEnabled(boolean enabled)

This method enables/disables motor brake mode. In motor brake mode, set power to 0 would stop the motor very abruptly by shorting the motor wires together using the generated back EMF to stop the motor. When not enabled, (i.e. float/coast mode), the motor wires are just disconnected from the motor controller so the motor will stop gradually.

Parameters:

enabled - specifies true to enable brake mode, false otherwise.

enableMotorRevLimitSwitch

public void enableMotorRevLimitSwitch(boolean normalClose)

This method enables the reverse limit switch and configures it to the specified type.

Parameters:

normalClose - specifies true as the normal close switch type, false as normal open.

enableMotorFwdLimitSwitch

public void enableMotorFwdLimitSwitch(boolean normalClose)

This method enables the forward limit switch and configures it to the specified type.

Parameters:

normalClose - specifies true as the normal close switch type, false as normal open.

disableMotorRevLimitSwitch

public void disableMotorRevLimitSwitch()

This method disables the reverse limit switch.

disableMotorFwdLimitSwitch

public void disableMotorFwdLimitSwitch()

This method disables the forward limit switch.

isMotorRevLimitSwitchEnabled

public boolean isMotorRevLimitSwitchEnabled()

This method checks if the reverse limit switch is enabled.

Returns:

true if enabled, false if disabled.

isMotorFwdLimitSwitchEnabled

public boolean isMotorFwdLimitSwitchEnabled()

This method checks if the forward limit switch is enabled.

Returns:

true if enabled, false if disabled.

setMotorRevLimitSwitchInverted

public void setMotorRevLimitSwitchInverted(boolean inverted)

This method inverts the active state of the reverse limit switch, typically reflecting whether the switch is wired normally open or normally close.

Parameters:

inverted - specifies true to invert the limit switch to normal close, false to normal open.

setMotorFwdLimitSwitchInverted

public void setMotorFwdLimitSwitchInverted(boolean inverted)

This method inverts the active state of the forward limit switch, typically reflecting whether the switch is wired normally open or normally close.

Parameters:

inverted - specifies true to invert the limit switch to normal close, false to normal open.

isMotorRevLimitSwitchActive

public boolean isMotorRevLimitSwitchActive()

This method returns the state of the reverse limit switch.

Returns:

true if reverse limit switch is active, false otherwise.

isMotorFwdLimitSwitchActive

public boolean isMotorFwdLimitSwitchActive()

This method returns the state of the forward limit switch.

Returns:

true if forward limit switch is active, false otherwise.

setMotorRevSoftPositionLimit

public void setMotorRevSoftPositionLimit(Double limit)

This method sets the soft position limit for the reverse direction.

Parameters:

limit - specifies the limit in sensor units, null to disable.

setMotorFwdSoftPositionLimit

public void setMotorFwdSoftPositionLimit(Double limit)

This method sets the soft position limit for the forward direction.

Parameters:

limit - specifies the limit in sensor units, null to disable.

setMotorPositionSensorInverted

public void setMotorPositionSensorInverted(boolean inverted)

This method inverts the position sensor direction. This may be rare but there are scenarios where the motor encoder may be mounted somewhere in the power train that it rotates opposite to the motor rotation. This will cause the encoder reading to go down when the motor is receiving positive power. This method can correct this situation.

Parameters:

inverted - specifies true to invert position sensor direction, false otherwise.

isMotorPositionSensorInverted

public boolean isMotorPositionSensorInverted()

This method returns the state of the position sensor direction.

Returns:

true if the motor direction is inverted, false otherwise.

resetMotorPosition

public void resetMotorPosition()

This method resets the motor position sensor, typically an encoder.

setMotorInverted

public void setMotorInverted(boolean inverted)

This method inverts the spinning direction of the motor.

Parameters:

inverted - specifies true to invert motor direction, false otherwise.

isMotorInverted

public boolean isMotorInverted()

This method checks if the motor direction is inverted.

Returns:

true if motor direction is inverted, false otherwise.

setMotorPower

public void setMotorPower(double power)

This method sets the motor power.

Parameters:

power - specifies the percentage power (range -1.0 to 1.0) to be set.

getMotorPower

public double getMotorPower()

This method gets the current motor power.

Returns:

current percentage motor power.

setMotorVelocity

public void setMotorVelocity(double velocity,
 double acceleration,
 double feedForward)

This method commands the motor to spin at the given velocity using close loop control.

Parameters:

velocity - specifies the motor velocity in rotations per second.

acceleration - specifies the max motor acceleration rotations per second square, can be 0 if not provided.

feedForward - specifies feedforward in volts if voltage comp is ON, otherwise fractional unit between -1 and 1.

getMotorVelocity

public double getMotorVelocity()

This method returns the current motor velocity.

Returns:

current motor velocity in rotations per sec.

setMotorPosition

public void setMotorPosition(double position,
 Double powerLimit,
 double velocity,
 double feedForward)

This method commands the motor to go to the given position using close loop control and optionally limits the power of the motor movement.

Parameters:

position - specifies the position in rotations.

powerLimit - specifies the maximum power output limits, can be null if not provided. If not provided, the previous set limit is applied.

velocity - specifies the max motor veloicty rotations per second, can be 0 if not provided.

feedForward - specifies feedforward in volts if voltage comp is ON, otherwise fractional unit between -1 and 1.

getMotorPosition

public double getMotorPosition()

This method returns the motor position by reading the position sensor. The position sensor can be an encoder or a potentiometer.

Returns:

current motor position in rotations.

setMotorCurrent

public void setMotorCurrent(double current)

This method commands the motor to spin at the given current value using close loop control.

Parameters:

current - specifies current in amperes.

getMotorCurrent

public double getMotorCurrent()

This method returns the motor current.

Returns:

motor current in amperes.

setMotorVelocityPidCoefficients

public void setMotorVelocityPidCoefficients(TrcPidController.PidCoefficients pidCoeff)

This method sets the PID coefficients of the motor controller's velocity PID controller.

Parameters:

pidCoeff - specifies the PID coefficients to set.

getMotorVelocityPidCoefficients

public TrcPidController.PidCoefficients getMotorVelocityPidCoefficients()

This method returns the PID coefficients of the motor controller's velocity PID controller.

Returns:

PID coefficients of the motor's veloicty PID controller.

setMotorPositionPidCoefficients

public void setMotorPositionPidCoefficients(TrcPidController.PidCoefficients pidCoeff)

This method sets the PID coefficients of the motor controller's position PID controller.

Parameters:

pidCoeff - specifies the PID coefficients to set.

getMotorPositionPidCoefficients

public TrcPidController.PidCoefficients getMotorPositionPidCoefficients()

This method returns the PID coefficients of the motor controller's position PID controller.

Returns:

PID coefficients of the motor's position PID controller.

setMotorCurrentPidCoefficients

public void setMotorCurrentPidCoefficients(TrcPidController.PidCoefficients pidCoeff)

This method sets the PID coefficients of the motor controller's current PID controller.

Parameters:

pidCoeff - specifies the PID coefficients to set.

getMotorCurrentPidCoefficients

public TrcPidController.PidCoefficients getMotorCurrentPidCoefficients()

This method returns the PID coefficients of the motor controller's current PID controller.

Returns:

PID coefficients of the motor's current PID controller.

setVoltageCompensationEnabled

public void setVoltageCompensationEnabled(Double batteryNominalVoltage)

This method enables/disables voltage compensation so that it will maintain the motor output regardless of battery voltage.

Specified by:

setVoltageCompensationEnabled in interface TrcMotorController

Overrides:

setVoltageCompensationEnabled in class TrcMotor

Parameters:

batteryNominalVoltage - specifies the nominal voltage of the battery to enable, null to disable.

isVoltageCompensationEnabled

public boolean isVoltageCompensationEnabled()

This method checks if voltage compensation is enabled.

Specified by:

isVoltageCompensationEnabled in interface TrcMotorController

Overrides:

isVoltageCompensationEnabled in class TrcMotor

Returns:

true if voltage compensation is enabled, false if disabled.

enableMotionProfile

public void enableMotionProfile(double velocity,
 double acceleration,
 double jerk)

This method enables motion profile support.

Specified by:

enableMotionProfile in interface TrcMotorController

Overrides:

enableMotionProfile in class TrcMotor

Parameters:

velocity - specifies cruise velocity in the unit of rps.

acceleration - specifies acceleration in the unit of rot per sec square.

jerk - specifies acceleration derivation in the unit of rot per sec cube.

disableMotionProfile

public void disableMotionProfile()

This method disables motion profile support.

Specified by:

disableMotionProfile in interface TrcMotorController

Overrides:

disableMotionProfile in class TrcMotor

follow

public void follow(TrcMotor otherMotor,
 boolean inverted,
 double scale)

This method sets this motor to follow another motor.

Specified by:

follow in interface TrcMotorController

Overrides:

follow in class TrcMotor

Parameters:

otherMotor - specifies the other motor to follow.

inverted - specifies true if this motor is inverted from the motor it is following, false otherwise.

scale - specifies the value scale for the follower motor, 1.0 by default.