CANTalon (wpilibj API)

java.lang.Object
- edu.wpi.first.wpilibj.CANTalon

All Implemented Interfaces:

CANSpeedController, LiveWindowSendable, MotorSafety, PIDInterface, PIDOutput, PIDSource, Sendable, SpeedController
```
public class CANTalon
extends Object
implements MotorSafety, PIDOutput, PIDSource, CANSpeedController
```

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static class`	`CANTalon.FeedbackDevice`
`static class`	`CANTalon.FeedbackDeviceStatus` Depending on the sensor type, Talon can determine if sensor is plugged in ot not.
`static class`	`CANTalon.MotionProfileStatus` Motion Profile Status This is simply a data transer object.
`static class`	`CANTalon.SetValueMotionProfile` Enumerated types for Motion Control Set Values.
`static class`	`CANTalon.StatusFrameRate` enumerated types for frame rate ms
`static class`	`CANTalon.TalonControlMode`
`static class`	`CANTalon.TrajectoryPoint` Motion Profile Trajectory Point This is simply a data transer object.

Nested classes/interfaces inherited from interface edu.wpi.first.wpilibj.CANSpeedController
CANSpeedController.ControlMode

Field Summary

Fields
Modifier and Type Field and Description

protected PIDSourceType m_pidSource
- Fields inherited from interface edu.wpi.first.wpilibj.MotorSafety
  DEFAULT_SAFETY_EXPIRATION
- Fields inherited from interface edu.wpi.first.wpilibj.CANSpeedController
  SMART_DASHBOARD_TYPE

Fields
Modifier and Type	Field and Description
`protected PIDSourceType`	`m_pidSource`

Constructor Summary

Constructors
Constructor and Description
`CANTalon(int deviceNumber)` Constructor for the CANTalon device.
`CANTalon(int deviceNumber, int controlPeriodMs)` Constructor for the CANTalon device.
`CANTalon(int deviceNumber, int controlPeriodMs, int enablePeriodMs)` Constructor for the CANTalon device.

Method Summary

All Methods Instance Methods Concrete Methods Deprecated Methods
Modifier and Type	Method and Description
`void`	`changeControlMode(CANTalon.TalonControlMode controlMode)`
`void`	`changeMotionControlFramePeriod(int periodMs)` Calling application can opt to speed up the handshaking between the robot API and the Talon to increase the download rate of the Talon's Motion Profile.
`void`	`clearIAccum()`
`void`	`ClearIaccum()` Clear the accumulator for I gain.
`void`	`clearMotionProfileHasUnderrun()` Clear the hasUnderrun flag in Talon's Motion Profile Executer when MPE is ready for another point, but the low level buffer is empty.
`void`	`clearMotionProfileTrajectories()` Clear the buffered motion profile in both Talon RAM (bottom), and in the API (top).
`void`	`clearStickyFaults()`
`void`	`configEncoderCodesPerRev(int codesPerRev)` Configure how many codes per revolution are generated by your encoder.
`void`	`ConfigFwdLimitSwitchNormallyOpen(boolean normallyOpen)` Configure the fwd limit switch to be normally open or normally closed.
`void`	`configMaxOutputVoltage(double voltage)` Configure the maximum voltage that the Jaguar will ever output.
`void`	`configNominalOutputVoltage(double forwardVoltage, double reverseVoltage)`
`void`	`configPeakOutputVoltage(double forwardVoltage, double reverseVoltage)`
`void`	`configPotentiometerTurns(int turns)` Configure the number of turns on the potentiometer.
`void`	`ConfigRevLimitSwitchNormallyOpen(boolean normallyOpen)` Configure the rev limit switch to be normally open or normally closed.
`void`	`delete()`
`void`	`disable()` Disable the speed controller
`void`	`disableControl()`
`void`	`enable()` Allows the control loop to run.
`void`	`enableBrakeMode(boolean brake)`
`void`	`enableControl()`
`void`	`enableForwardSoftLimit(boolean enable)`
`void`	`enableLimitSwitch(boolean forward, boolean reverse)`
`void`	`enableReverseSoftLimit(boolean enable)`
`void`	`enableZeroSensorPositionOnIndex(boolean enable, boolean risingEdge)` Enables Talon SRX to automatically zero the Sensor Position whenever an edge is detected on the index signal.
`double`	`get()` Gets the current status of the Talon (usually a sensor value).
`int`	`getAnalogInPosition()` Get the current analog in position, regardless of whether it is the current feedback device.
`int`	`getAnalogInRaw()` Get the current analog in position, regardless of whether it is the current feedback device.
`int`	`getAnalogInVelocity()` Get the current encoder velocity, regardless of whether it is the current feedback device.
`boolean`	`getBrakeEnableDuringNeutral()`
`double`	`getBusVoltage()` Get the current input (battery) voltage.
`int`	`getClosedLoopError()` Get the current difference between the setpoint and the sensor value.
`double`	`getCloseLoopRampRate()` Get the closed loop ramp rate for the current profile.
`CANTalon.TalonControlMode`	`getControlMode()` Gets the current control mode.
`double`	`getD()`
`String`	`getDescription()`
`int`	`getDeviceID()`
`int`	`getEncPosition()` Get the current encoder position, regardless of whether it is the current feedback device.
`int`	`getEncVelocity()` Get the current encoder velocity, regardless of whether it is the current feedback device.
`double`	`getError()` Returns the difference between the setpoint and the current position.
`double`	`getExpiration()`
`double`	`getF()` Gets the feed-forward PID constant.
`int`	`getFaultForLim()`
`int`	`getFaultForSoftLim()`
`int`	`getFaultHardwareFailure()`
`int`	`getFaultOverTemp()`
`int`	`getFaultRevLim()`
`int`	`getFaultRevSoftLim()`
`int`	`getFaultUnderVoltage()`
`long`	`GetFirmwareVersion()`
`int`	`getForwardSoftLimit()`
`double`	`getI()`
`long`	`GetIaccum()`
`boolean`	`getInverted()` Common interface for the inverting direction of a speed controller.
`double`	`getIZone()`
`void`	`getMotionProfileStatus(CANTalon.MotionProfileStatus motionProfileStatus)` Retrieve all Motion Profile status information.
`int`	`getMotionProfileTopLevelBufferCount()` Retrieve just the buffer count for the api-level (top) buffer.
`int`	`getNumberOfQuadIdxRises()` Get the number of of rising edges seen on the index pin.
`double`	`getOutputCurrent()` Returns the current going through the Talon, in Amperes.
`double`	`getOutputVoltage()` Get the current output voltage.
`double`	`getP()` Get the current proportional constant.
`double`	`getParameter(CanTalonJNI.param_t paramEnum)` General get frame.
`PIDSourceType`	`getPIDSourceType()` Get which parameter of the device you are using as a process control variable.
`int`	`getPinStateQuadA()`
`int`	`getPinStateQuadB()`
`int`	`getPinStateQuadIdx()`
`double`	`getPosition()` TODO documentation (see CANJaguar.java)
`int`	`getPulseWidthPosition()`
`int`	`getPulseWidthRiseToFallUs()`
`int`	`getPulseWidthRiseToRiseUs()`
`int`	`getPulseWidthVelocity()`
`int`	`getReverseSoftLimit()`
`double`	`getSetpoint()`
`double`	`getSpeed()` TODO documentation (see CANJaguar.java)
`int`	`getStickyFaultForLim()`
`int`	`getStickyFaultForSoftLim()`
`int`	`getStickyFaultOverTemp()`
`int`	`getStickyFaultRevLim()`
`int`	`getStickyFaultRevSoftLim()`
`int`	`getStickyFaultUnderVoltage()`
`ITable`	`getTable()`
`double`	`getTemperature()` Returns temperature of Talon, in degrees Celsius.
`void`	`initTable(ITable subtable)` Initializes a table for this sendable object.
`boolean`	`isAlive()`
`boolean`	`isControlEnabled()`
`boolean`	`isEnabled()` Return true if Talon is enabled.
`boolean`	`isForwardSoftLimitEnabled()`
`boolean`	`isFwdLimitSwitchClosed()`
`boolean`	`isMotionProfileTopLevelBufferFull()`
`boolean`	`isReverseSoftLimitEnabled()`
`boolean`	`isRevLimitSwitchClosed()`
`boolean`	`isSafetyEnabled()`
`CANTalon.FeedbackDeviceStatus`	`isSensorPresent(CANTalon.FeedbackDevice feedbackDevice)`
`double`	`pidGet()` Get the result to use in PIDController $
`void`	`pidWrite(double output)` Set the output to the value calculated by PIDController $
`void`	`processMotionProfileBuffer()` This must be called periodically to funnel the trajectory points from the API's top level buffer to the Talon's bottom level buffer.
`boolean`	`pushMotionProfileTrajectory(CANTalon.TrajectoryPoint trajPt)` Push another trajectory point into the top level buffer (which is emptied into the Talon's bottom buffer as room allows).
`void`	`reset()` Resets the accumulated integral error and disables the controller.
`void`	`reverseOutput(boolean flip)` Flips the sign (multiplies by negative one) the throttle values going into the motor on the talon in closed loop modes.
`void`	`reverseSensor(boolean flip)` Flips the sign (multiplies by negative one) the sensor values going into the talon.
`void`	`set(double outputValue)` Sets the appropriate output on the talon, depending on the mode.
`void`	`set(double outputValue, byte thisValueDoesNotDoAnything)` Sets the output of the Talon.
`void`	`setAllowableClosedLoopErr(int allowableCloseLoopError)` Set the allowable closed loop error.
`void`	`setAnalogPosition(int newPosition)`
`void`	`setCloseLoopRampRate(double rampRate)` Set the closed loop ramp rate for the current profile.
`void`	`setControlMode(int mode)` Sets the control mode of this speed controller.
`void`	`setD(double d)` Set the derivative constant of the currently selected profile.
`void`	`setEncPosition(int newPosition)`
`void`	`setExpiration(double timeout)`
`void`	`setF(double f)` Set the feedforward value of the currently selected profile.
`void`	`setFeedbackDevice(CANTalon.FeedbackDevice device)`
`void`	`setForwardSoftLimit(double forwardLimit)`
`void`	`setI(double i)` Set the integration constant of the currently selected profile.
`void`	`setInverted(boolean isInverted)` Inverts the direction of the motor's rotation.
`void`	`setIZone(int izone)` Set the integration zone of the current Closed Loop profile.
`protected void`	`setMotionProfileStatusFromJNI(CANTalon.MotionProfileStatus motionProfileStatus, int flags, int profileSlotSelect, int targPos, int targVel, int topBufferRem, int topBufferCnt, int btmBufferCnt, int outputEnable)` Internal method to set the contents.
`void`	`setP(double p)` Set the proportional value of the currently selected profile.
`void`	`setParameter(CanTalonJNI.param_t paramEnum, double value)` General set frame.
`void`	`setPID(double p, double i, double d)`
`void`	`setPID(double p, double i, double d, double f, int izone, double closeLoopRampRate, int profile)` Sets control values for closed loop control.
`void`	`setPIDSourceType(PIDSourceType pidSource)` Set which parameter of the device you are using as a process control variable.
`void`	`setPosition(double pos)`
`void`	`setProfile(int profile)` Select which closed loop profile to use, and uses whatever PIDF gains and the such that are already there.
`void`	`setPulseWidthPosition(int newPosition)`
`void`	`setReverseSoftLimit(double reverseLimit)`
`void`	`setSafetyEnabled(boolean enabled)`
`void`	`setSetpoint(double setpoint)` Calls `set(double)`.
`void`	`setStatusFrameRateMs(CANTalon.StatusFrameRate stateFrame, int periodMs)`
`void`	`setVoltageCompensationRampRate(double rampRate)`
`void`	`setVoltageRampRate(double rampRate)` Set the voltage ramp rate for the current profile.
`void`	`startLiveWindowMode()` Start having this sendable object automatically respond to value changes reflect the value on the table.
`void`	`stopLiveWindowMode()` Stop having this sendable object automatically respond to value changes.
`void`	`stopMotor()` Deprecated. Use disableControl instead.
`void`	`updateTable()` Update the table for this sendable object with the latest values.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj.CANSpeedController
createTableListener, getSmartDashboardType

- Field Detail
  - m_pidSource
```
protected PIDSourceType m_pidSource
```
- Constructor Detail
  - CANTalon
```
public CANTalon(int deviceNumber)
```
    Constructor for the CANTalon device.
    
    Parameters:
    
    deviceNumber - The CAN ID of the Talon SRX
  - CANTalon
```
public CANTalon(int deviceNumber,
                int controlPeriodMs)
```
    Constructor for the CANTalon device.
    
    Parameters:
    
    deviceNumber - The CAN ID of the Talon SRX
    
    controlPeriodMs - The period in ms to send the CAN control frame. Period is bounded to [1ms,95ms].
  - CANTalon
```
public CANTalon(int deviceNumber,
                int controlPeriodMs,
                int enablePeriodMs)
```
    Constructor for the CANTalon device.
    
    Parameters:
    
    deviceNumber - The CAN ID of the Talon SRX
    
    controlPeriodMs - The period in ms to send the CAN control frame. Period is bounded to [1ms,95ms].
    
    enablePeriodMs - The period in ms to send the enable control frame. Period is bounded to [1ms,95ms]. This typically is not required to specify, however this could be used to minimize the time between robot-enable and talon-motor-drive.
- Method Detail
  - pidWrite
```
public void pidWrite(double output)
```
    Description copied from interface: PIDOutput
    
    Set the output to the value calculated by PIDController $
    
    Specified by:
    
    pidWrite in interface PIDOutput
    
    Parameters:
    
    output - the value calculated by PIDController
  - setPIDSourceType
```
public void setPIDSourceType(PIDSourceType pidSource)
```
    Set which parameter of the device you are using as a process control variable.
    
    Specified by:
    
    setPIDSourceType in interface PIDSource
    
    Parameters:
    
    pidSource - An enum to select the parameter.
  - getPIDSourceType
```
public PIDSourceType getPIDSourceType()
```
    Get which parameter of the device you are using as a process control variable.
    
    Specified by:
    
    getPIDSourceType in interface PIDSource
    
    Returns:
    
    the currently selected PID source parameter
  - pidGet
```
public double pidGet()
```
    Description copied from interface: PIDSource
    
    Get the result to use in PIDController $
    
    Specified by:
    
    pidGet in interface PIDSource
    
    Returns:
    
    the result to use in PIDController
  - delete
```
public void delete()
```
  - set
```
public void set(double outputValue)
```
    Sets the appropriate output on the talon, depending on the mode. In PercentVbus, the output is between -1.0 and 1.0, with 0.0 as stopped. In Follower mode, the output is the integer device ID of the talon to duplicate. In Voltage mode, outputValue is in volts. In Current mode, outputValue is in amperes. In Speed mode, outputValue is in position change / 10ms. In Position mode, outputValue is in encoder ticks or an analog value, depending on the sensor.
    
    Specified by:
    
    set in interface SpeedController
    
    Parameters:
    
    outputValue - The setpoint value, as described above.
  - setInverted
```
public void setInverted(boolean isInverted)
```
    Inverts the direction of the motor's rotation. Only works in PercentVbus mode.
    
    Specified by:
    
    setInverted in interface SpeedController
    
    Parameters:
    
    isInverted - The state of inversion, true is inverted.
  - getInverted
```
public boolean getInverted()
```
    Common interface for the inverting direction of a speed controller.
    
    Specified by:
    
    getInverted in interface SpeedController
    
    Returns:
    
    isInverted The state of inversion, true is inverted.
  - set
```
public void set(double outputValue,
                byte thisValueDoesNotDoAnything)
```
    Sets the output of the Talon.
    
    Specified by:
    
    set in interface SpeedController
    
    Parameters:
    
    outputValue - See set().
    
    thisValueDoesNotDoAnything - corresponds to syncGroup from Jaguar; not relevant here.
  - reset
```
public void reset()
```
    Resets the accumulated integral error and disables the controller. The only difference between this and PIDController.reset() is that the PIDController also resets the previous error for the D term, but the difference should have minimal effect as it will only last one cycle.
    
    Specified by:
    
    reset in interface PIDInterface
  - isEnabled
```
public boolean isEnabled()
```
    Return true if Talon is enabled.
    
    Specified by:
    
    isEnabled in interface PIDInterface
    
    Returns:
    
    true if the Talon is enabled and may be applying power to the motor
  - getError
```
public double getError()
```
    Returns the difference between the setpoint and the current position.
    
    Specified by:
    
    getError in interface PIDInterface
    
    Returns:
    
    The error in units corresponding to whichever mode we are in.
    
    See Also:
    
    set() for a detailed description of the various units.
  - setSetpoint
```
public void setSetpoint(double setpoint)
```
    Calls set(double).
    
    Specified by:
    
    setSetpoint in interface PIDInterface
  - reverseSensor
```
public void reverseSensor(boolean flip)
```
    Flips the sign (multiplies by negative one) the sensor values going into the talon. This only affects position and velocity closed loop control. Allows for situations where you may have a sensor flipped and going in the wrong direction.
    
    Parameters:
    
    flip - True if sensor input should be flipped; False if not.
  - reverseOutput
```
public void reverseOutput(boolean flip)
```
    Flips the sign (multiplies by negative one) the throttle values going into the motor on the talon in closed loop modes.
    
    Parameters:
    
    flip - True if motor output should be flipped; False if not.
  - get
```
public double get()
```
    Gets the current status of the Talon (usually a sensor value). In Current mode: returns output current. In Speed mode: returns current speed. In Position mode: returns current sensor position. In PercentVbus and Follower modes: returns current applied throttle.
    
    Specified by:
    
    get in interface SpeedController
    
    Returns:
    
    The current sensor value of the Talon.
  - getEncPosition
```
public int getEncPosition()
```
    Get the current encoder position, regardless of whether it is the current feedback device.
    
    Returns:
    
    The current position of the encoder.
  - setEncPosition
```
public void setEncPosition(int newPosition)
```
  - getEncVelocity
```
public int getEncVelocity()
```
    Get the current encoder velocity, regardless of whether it is the current feedback device.
    
    Returns:
    
    The current speed of the encoder.
  - getPulseWidthPosition
```
public int getPulseWidthPosition()
```
  - setPulseWidthPosition
```
public void setPulseWidthPosition(int newPosition)
```
  - getPulseWidthVelocity
```
public int getPulseWidthVelocity()
```
  - getPulseWidthRiseToFallUs
```
public int getPulseWidthRiseToFallUs()
```
  - getPulseWidthRiseToRiseUs
```
public int getPulseWidthRiseToRiseUs()
```
  - isSensorPresent
```
public CANTalon.FeedbackDeviceStatus isSensorPresent(CANTalon.FeedbackDevice feedbackDevice)
```
    Parameters:
    
    feedbackDevice - which feedback sensor to check it if is connected.
    
    Returns:
    
    status of caller's specified sensor type.
  - getNumberOfQuadIdxRises
```
public int getNumberOfQuadIdxRises()
```
    Get the number of of rising edges seen on the index pin.
    
    Returns:
    
    number of rising edges on idx pin.
  - getPinStateQuadA
```
public int getPinStateQuadA()
```
    Returns:
    
    IO level of QUADA pin.
  - getPinStateQuadB
```
public int getPinStateQuadB()
```
    Returns:
    
    IO level of QUADB pin.
  - getPinStateQuadIdx
```
public int getPinStateQuadIdx()
```
    Returns:
    
    IO level of QUAD Index pin.
  - setAnalogPosition
```
public void setAnalogPosition(int newPosition)
```
  - getAnalogInPosition
```
public int getAnalogInPosition()
```
    Get the current analog in position, regardless of whether it is the current feedback device.
    
    Returns:
    
    The 24bit analog position. The bottom ten bits is the ADC (0 - 1023) on the analog pin of the Talon. The upper 14 bits tracks the overflows and underflows (continuous sensor).
  - getAnalogInRaw
```
public int getAnalogInRaw()
```
    Get the current analog in position, regardless of whether it is the current feedback device. $
    
    Returns:
    
    The ADC (0 - 1023) on analog pin of the Talon.
  - getAnalogInVelocity
```
public int getAnalogInVelocity()
```
    Get the current encoder velocity, regardless of whether it is the current feedback device.
    
    Returns:
    
    The current speed of the analog in device.
  - getClosedLoopError
```
public int getClosedLoopError()
```
    Get the current difference between the setpoint and the sensor value.
    
    Returns:
    
    The error, in whatever units are appropriate.
  - setAllowableClosedLoopErr
```
public void setAllowableClosedLoopErr(int allowableCloseLoopError)
```
    Set the allowable closed loop error.
    
    Parameters:
    
    allowableCloseLoopError - allowable closed loop error for selected profile. mA for Curent closed loop. Talon Native Units for position and velocity.
  - isFwdLimitSwitchClosed
```
public boolean isFwdLimitSwitchClosed()
```
  - isRevLimitSwitchClosed
```
public boolean isRevLimitSwitchClosed()
```
  - getBrakeEnableDuringNeutral
```
public boolean getBrakeEnableDuringNeutral()
```
  - configEncoderCodesPerRev
```
public void configEncoderCodesPerRev(int codesPerRev)
```
    Configure how many codes per revolution are generated by your encoder.
    
    Parameters:
    
    codesPerRev - The number of counts per revolution.
  - configPotentiometerTurns
```
public void configPotentiometerTurns(int turns)
```
    Configure the number of turns on the potentiometer.
    
    Parameters:
    
    turns - The number of turns of the potentiometer.
  - getTemperature
```
public double getTemperature()
```
    Returns temperature of Talon, in degrees Celsius.
    
    Specified by:
    
    getTemperature in interface CANSpeedController
    
    Returns:
    
    the current temperature of the controller, in degrees Celsius.
  - getOutputCurrent
```
public double getOutputCurrent()
```
    Returns the current going through the Talon, in Amperes.
    
    Specified by:
    
    getOutputCurrent in interface CANSpeedController
    
    Returns:
    
    the current motor current (in Amperes).
  - getOutputVoltage
```
public double getOutputVoltage()
```
    Description copied from interface: CANSpeedController
    
    Get the current output voltage.
    
    Specified by:
    
    getOutputVoltage in interface CANSpeedController
    
    Returns:
    
    The voltage being output by the Talon, in Volts.
  - getBusVoltage
```
public double getBusVoltage()
```
    Description copied from interface: CANSpeedController
    
    Get the current input (battery) voltage.
    
    Specified by:
    
    getBusVoltage in interface CANSpeedController
    
    Returns:
    
    The voltage at the battery terminals of the Talon, in Volts.
  - getPosition
```
public double getPosition()
```
    TODO documentation (see CANJaguar.java)
    
    Specified by:
    
    getPosition in interface CANSpeedController
    
    Returns:
    
    The position of the sensor currently providing feedback. When using analog sensors, 0 units corresponds to 0V, 1023 units corresponds to 3.3V When using an analog encoder (wrapping around 1023 to 0 is possible) the units are still 3.3V per 1023 units. When using quadrature, each unit is a quadrature edge (4X) mode.
  - setPosition
```
public void setPosition(double pos)
```
  - getSpeed
```
public double getSpeed()
```
    TODO documentation (see CANJaguar.java)
    
    Specified by:
    
    getSpeed in interface CANSpeedController
    
    Returns:
    
    The speed of the sensor currently providing feedback. The speed units will be in the sensor's native ticks per 100ms. For analog sensors, 3.3V corresponds to 1023 units. So a speed of 200 equates to ~0.645 dV per 100ms or 6.451 dV per second. If this is an analog encoder, that likely means 1.9548 rotations per sec. For quadrature encoders, each unit corresponds a quadrature edge (4X). So a 250 count encoder will produce 1000 edge events per rotation. An example speed of 200 would then equate to 20% of a rotation per 100ms, or 10 rotations per second.
  - getControlMode
```
public CANTalon.TalonControlMode getControlMode()
```
    Description copied from interface: CANSpeedController
    
    Gets the current control mode.
    
    Specified by:
    
    getControlMode in interface CANSpeedController
    
    Returns:
    
    the current control mode
  - setControlMode
```
public void setControlMode(int mode)
```
    Description copied from interface: CANSpeedController
    
    Sets the control mode of this speed controller.
    
    Specified by:
    
    setControlMode in interface CANSpeedController
    
    Parameters:
    
    mode - the the new mode
  - changeControlMode
```
public void changeControlMode(CANTalon.TalonControlMode controlMode)
```
  - setFeedbackDevice
```
public void setFeedbackDevice(CANTalon.FeedbackDevice device)
```
  - setStatusFrameRateMs
```
public void setStatusFrameRateMs(CANTalon.StatusFrameRate stateFrame,
                                 int periodMs)
```
  - enableControl
```
public void enableControl()
```
  - enable
```
public void enable()
```
    Allows the control loop to run.
    
    Specified by:
    
    enable in interface PIDInterface
  - disableControl
```
public void disableControl()
```
  - isControlEnabled
```
public boolean isControlEnabled()
```
  - getP
```
public double getP()
```
    Get the current proportional constant.
    
    Specified by:
    
    getP in interface PIDInterface
    
    Returns:
    
    double proportional constant for current profile.
  - getI
```
public double getI()
```
    Specified by:
    
    getI in interface PIDInterface
  - getD
```
public double getD()
```
    Specified by:
    
    getD in interface PIDInterface
  - getF
```
public double getF()
```
    Description copied from interface: CANSpeedController
    
    Gets the feed-forward PID constant. This method is optional to implement. If a subclass does not implement this, it will always return zero.
    
    Specified by:
    
    getF in interface CANSpeedController
  - getIZone
```
public double getIZone()
```
  - getCloseLoopRampRate
```
public double getCloseLoopRampRate()
```
    Get the closed loop ramp rate for the current profile. Limits the rate at which the throttle will change. Only affects position and speed closed loop modes.
    
    Returns:
    
    rampRate Maximum change in voltage, in volts / sec.
    
    See Also:
    
    For selecting a certain profile.
  - GetFirmwareVersion
```
public long GetFirmwareVersion()
```
    Returns:
    
    The version of the firmware running on the Talon
  - GetIaccum
```
public long GetIaccum()
```
  - setP
```
public void setP(double p)
```
    Set the proportional value of the currently selected profile.
    
    Specified by:
    
    setP in interface CANSpeedController
    
    Parameters:
    
    p - Proportional constant for the currently selected PID profile.
    
    See Also:
    
    For selecting a certain profile.
  - setI
```
public void setI(double i)
```
    Set the integration constant of the currently selected profile.
    
    Specified by:
    
    setI in interface CANSpeedController
    
    Parameters:
    
    i - Integration constant for the currently selected PID profile.
    
    See Also:
    
    For selecting a certain profile.
  - setD
```
public void setD(double d)
```
    Set the derivative constant of the currently selected profile.
    
    Specified by:
    
    setD in interface CANSpeedController
    
    Parameters:
    
    d - Derivative constant for the currently selected PID profile.
    
    See Also:
    
    For selecting a certain profile.
  - setF
```
public void setF(double f)
```
    Set the feedforward value of the currently selected profile.
    
    Specified by:
    
    setF in interface CANSpeedController
    
    Parameters:
    
    f - Feedforward constant for the currently selected PID profile.
    
    See Also:
    
    For selecting a certain profile.
  - setIZone
```
public void setIZone(int izone)
```
    Set the integration zone of the current Closed Loop profile. Whenever the error is larger than the izone value, the accumulated integration error is cleared so that high errors aren't racked up when at high errors. An izone value of 0 means no difference from a standard PIDF loop.
    
    Parameters:
    
    izone - Width of the integration zone.
    
    See Also:
    
    For selecting a certain profile.
  - setCloseLoopRampRate
```
public void setCloseLoopRampRate(double rampRate)
```
    Set the closed loop ramp rate for the current profile. Limits the rate at which the throttle will change. Only affects position and speed closed loop modes.
    
    Parameters:
    
    rampRate - Maximum change in voltage, in volts / sec.
    
    See Also:
    
    For selecting a certain profile.
  - setVoltageRampRate
```
public void setVoltageRampRate(double rampRate)
```
    Set the voltage ramp rate for the current profile. Limits the rate at which the throttle will change. Affects all modes.
    
    Specified by:
    
    setVoltageRampRate in interface CANSpeedController
    
    Parameters:
    
    rampRate - Maximum change in voltage, in volts / sec.
  - setVoltageCompensationRampRate
```
public void setVoltageCompensationRampRate(double rampRate)
```
  - ClearIaccum
```
public void ClearIaccum()
```
    Clear the accumulator for I gain.
  - setPID
```
public void setPID(double p,
                   double i,
                   double d,
                   double f,
                   int izone,
                   double closeLoopRampRate,
                   int profile)
```
    Sets control values for closed loop control.
    
    Parameters:
    
    p - Proportional constant.
    
    i - Integration constant.
    
    d - Differential constant.
    
    f - Feedforward constant.
    
    izone - Integration zone -- prevents accumulation of integration error with large errors. Setting this to zero will ignore any izone stuff.
    
    closeLoopRampRate - Closed loop ramp rate. Maximum change in voltage, in volts / sec.
    
    profile - which profile to set the pid constants for. You can have two profiles, with values of 0 or 1, allowing you to keep a second set of values on hand in the talon. In order to switch profiles without recalling setPID, you must call setProfile().
  - setPID
```
public void setPID(double p,
                   double i,
                   double d)
```
    Specified by:
    
    setPID in interface PIDInterface
  - getSetpoint
```
public double getSetpoint()
```
    Specified by:
    
    getSetpoint in interface PIDInterface
    
    Returns:
    
    The latest value set using set().
  - setProfile
```
public void setProfile(int profile)
```
    Select which closed loop profile to use, and uses whatever PIDF gains and the such that are already there.
  - stopMotor
```
public void stopMotor()
```
    Deprecated. Use disableControl instead.
    
    Common interface for stopping a motor.
    
    Specified by:
    
    stopMotor in interface MotorSafety
    
    Specified by:
    
    stopMotor in interface SpeedController
  - disable
```
public void disable()
```
    Description copied from interface: SpeedController
    
    Disable the speed controller
    
    Specified by:
    
    disable in interface PIDInterface
    
    Specified by:
    
    disable in interface SpeedController
  - getDeviceID
```
public int getDeviceID()
```
  - clearIAccum
```
public void clearIAccum()
```
  - setForwardSoftLimit
```
public void setForwardSoftLimit(double forwardLimit)
```
  - getForwardSoftLimit
```
public int getForwardSoftLimit()
```
  - enableForwardSoftLimit
```
public void enableForwardSoftLimit(boolean enable)
```
  - isForwardSoftLimitEnabled
```
public boolean isForwardSoftLimitEnabled()
```
  - setReverseSoftLimit
```
public void setReverseSoftLimit(double reverseLimit)
```
  - getReverseSoftLimit
```
public int getReverseSoftLimit()
```
  - enableReverseSoftLimit
```
public void enableReverseSoftLimit(boolean enable)
```
  - isReverseSoftLimitEnabled
```
public boolean isReverseSoftLimitEnabled()
```
  - configMaxOutputVoltage
```
public void configMaxOutputVoltage(double voltage)
```
    Configure the maximum voltage that the Jaguar will ever output. This can be used to limit the maximum output voltage in all modes so that motors which cannot withstand full bus voltage can be used safely.
    
    Parameters:
    
    voltage - The maximum voltage output by the Jaguar.
  - configPeakOutputVoltage
```
public void configPeakOutputVoltage(double forwardVoltage,
                                    double reverseVoltage)
```
  - configNominalOutputVoltage
```
public void configNominalOutputVoltage(double forwardVoltage,
                                       double reverseVoltage)
```
  - setParameter
```
public void setParameter(CanTalonJNI.param_t paramEnum,
                         double value)
```
    General set frame. Since the parameter is a general integral type, this can be used for testing future features.
  - getParameter
```
public double getParameter(CanTalonJNI.param_t paramEnum)
```
    General get frame. Since the parameter is a general integral type, this can be used for testing future features.
  - clearStickyFaults
```
public void clearStickyFaults()
```
  - enableLimitSwitch
```
public void enableLimitSwitch(boolean forward,
                              boolean reverse)
```
  - ConfigFwdLimitSwitchNormallyOpen
```
public void ConfigFwdLimitSwitchNormallyOpen(boolean normallyOpen)
```
    Configure the fwd limit switch to be normally open or normally closed. Talon will disable momentarilly if the Talon's current setting is dissimilar to the caller's requested setting. Since Talon saves setting to flash this should only affect a given Talon initially during robot install.
    
    Parameters:
    
    normallyOpen - true for normally open. false for normally closed.
  - ConfigRevLimitSwitchNormallyOpen
```
public void ConfigRevLimitSwitchNormallyOpen(boolean normallyOpen)
```
    Configure the rev limit switch to be normally open or normally closed. Talon will disable momentarilly if the Talon's current setting is dissimilar to the caller's requested setting. Since Talon saves setting to flash this should only affect a given Talon initially during robot install.
    
    Parameters:
    
    normallyOpen - true for normally open. false for normally closed.
  - enableBrakeMode
```
public void enableBrakeMode(boolean brake)
```
  - getFaultOverTemp
```
public int getFaultOverTemp()
```
  - getFaultUnderVoltage
```
public int getFaultUnderVoltage()
```
  - getFaultForLim
```
public int getFaultForLim()
```
  - getFaultRevLim
```
public int getFaultRevLim()
```
  - getFaultHardwareFailure
```
public int getFaultHardwareFailure()
```
  - getFaultForSoftLim
```
public int getFaultForSoftLim()
```
  - getFaultRevSoftLim
```
public int getFaultRevSoftLim()
```
  - getStickyFaultOverTemp
```
public int getStickyFaultOverTemp()
```
  - getStickyFaultUnderVoltage
```
public int getStickyFaultUnderVoltage()
```
  - getStickyFaultForLim
```
public int getStickyFaultForLim()
```
  - getStickyFaultRevLim
```
public int getStickyFaultRevLim()
```
  - getStickyFaultForSoftLim
```
public int getStickyFaultForSoftLim()
```
  - getStickyFaultRevSoftLim
```
public int getStickyFaultRevSoftLim()
```
  - enableZeroSensorPositionOnIndex
```
public void enableZeroSensorPositionOnIndex(boolean enable,
                                            boolean risingEdge)
```
    Enables Talon SRX to automatically zero the Sensor Position whenever an edge is detected on the index signal.
    
    Parameters:
    
    enable - boolean input, pass true to enable feature or false to disable.
    
    risingEdge - boolean input, pass true to clear the position on rising edge, pass false to clear the position on falling edge.
  - changeMotionControlFramePeriod
```
public void changeMotionControlFramePeriod(int periodMs)
```
    Calling application can opt to speed up the handshaking between the robot API and the Talon to increase the download rate of the Talon's Motion Profile. Ideally the period should be no more than half the period of a trajectory point.
  - clearMotionProfileTrajectories
```
public void clearMotionProfileTrajectories()
```
    Clear the buffered motion profile in both Talon RAM (bottom), and in the API (top). Be sure to check getMotionProfileStatus() to know when the buffer is actually cleared.
  - getMotionProfileTopLevelBufferCount
```
public int getMotionProfileTopLevelBufferCount()
```
    Retrieve just the buffer count for the api-level (top) buffer. This routine performs no CAN or data structure lookups, so its fast and ideal if caller needs to quickly poll the progress of trajectory points being emptied into Talon's RAM. Otherwise just use GetMotionProfileStatus.
    
    Returns:
    
    number of trajectory points in the top buffer.
  - pushMotionProfileTrajectory
```
public boolean pushMotionProfileTrajectory(CANTalon.TrajectoryPoint trajPt)
```
    Push another trajectory point into the top level buffer (which is emptied into the Talon's bottom buffer as room allows).
    
    Parameters:
    
    targPos - servo position in native Talon units (sensor units).
    
    targVel - velocity to feed-forward in native Talon units (sensor units per 100ms).
    
    profileSlotSelect - which slot to pull PIDF gains from. Currently supports 0 or 1.
    
    timeDurMs - time in milliseconds of how long to apply this point.
    
    velOnly - set to nonzero to signal Talon that only the feed-foward velocity should be used, i.e. do not perform PID on position. This is equivalent to setting PID gains to zero, but much more efficient and synchronized to MP.
    
    isLastPoint - set to nonzero to signal Talon to keep processing this trajectory point, instead of jumping to the next one when timeDurMs expires. Otherwise MP executer will eventuall see an empty buffer after the last point expires, causing it to assert the IsUnderRun flag. However this may be desired if calling application nevers wants to terminate the MP.
    
    zeroPos - set to nonzero to signal Talon to "zero" the selected position sensor before executing this trajectory point. Typically the first point should have this set only thus allowing the remainder of the MP positions to be relative to zero.
    
    Returns:
    
    CTR_OKAY if trajectory point push ok. CTR_BufferFull if buffer is full due to kMotionProfileTopBufferCapacity.
  - isMotionProfileTopLevelBufferFull
```
public boolean isMotionProfileTopLevelBufferFull()
```
    Returns:
    
    true if api-level (top) buffer is full.
  - processMotionProfileBuffer
```
public void processMotionProfileBuffer()
```
    This must be called periodically to funnel the trajectory points from the API's top level buffer to the Talon's bottom level buffer. Recommendation is to call this twice as fast as the executation rate of the motion profile. So if MP is running with 20ms trajectory points, try calling this routine every 10ms. All motion profile functions are thread-safe through the use of a mutex, so there is no harm in having the caller utilize threading.
  - getMotionProfileStatus
```
public void getMotionProfileStatus(CANTalon.MotionProfileStatus motionProfileStatus)
```
    Retrieve all Motion Profile status information. Since this all comes from one CAN frame, its ideal to have one routine to retrieve the frame once and decode everything.
    
    Parameters:
    
    [out] - motionProfileStatus contains all progress information on the currently running MP. Caller should must instantiate the motionProfileStatus object first then pass into this routine to be filled.
  - setMotionProfileStatusFromJNI
```
protected void setMotionProfileStatusFromJNI(CANTalon.MotionProfileStatus motionProfileStatus,
                                             int flags,
                                             int profileSlotSelect,
                                             int targPos,
                                             int targVel,
                                             int topBufferRem,
                                             int topBufferCnt,
                                             int btmBufferCnt,
                                             int outputEnable)
```
    Internal method to set the contents.
  - clearMotionProfileHasUnderrun
```
public void clearMotionProfileHasUnderrun()
```
    Clear the hasUnderrun flag in Talon's Motion Profile Executer when MPE is ready for another point, but the low level buffer is empty. Once the Motion Profile Executer sets the hasUnderrun flag, it stays set until Robot Application clears it with this routine, which ensures Robot Application gets a chance to instrument or react. Caller could also check the isUnderrun flag which automatically clears when fault condition is removed.
  - setExpiration
```
public void setExpiration(double timeout)
```
    Specified by:
    
    setExpiration in interface MotorSafety
  - getExpiration
```
public double getExpiration()
```
    Specified by:
    
    getExpiration in interface MotorSafety
  - isAlive
```
public boolean isAlive()
```
    Specified by:
    
    isAlive in interface MotorSafety
  - isSafetyEnabled
```
public boolean isSafetyEnabled()
```
    Specified by:
    
    isSafetyEnabled in interface MotorSafety
  - setSafetyEnabled
```
public void setSafetyEnabled(boolean enabled)
```
    Specified by:
    
    setSafetyEnabled in interface MotorSafety
  - getDescription
```
public String getDescription()
```
    Specified by:
    
    getDescription in interface MotorSafety
  - initTable
```
public void initTable(ITable subtable)
```
    Initializes a table for this sendable object. $
    
    Specified by:
    
    initTable in interface Sendable
    
    Parameters:
    
    subtable - The table to put the values in.
  - updateTable
```
public void updateTable()
```
    Update the table for this sendable object with the latest values.
    
    Specified by:
    
    updateTable in interface CANSpeedController
    
    Specified by:
    
    updateTable in interface LiveWindowSendable
  - getTable
```
public ITable getTable()
```
    Specified by:
    
    getTable in interface Sendable
    
    Returns:
    
    the table that is currently associated with the sendable
  - startLiveWindowMode
```
public void startLiveWindowMode()
```
    Start having this sendable object automatically respond to value changes reflect the value on the table.
    
    Specified by:
    
    startLiveWindowMode in interface LiveWindowSendable
  - stopLiveWindowMode
```
public void stopLiveWindowMode()
```
    Stop having this sendable object automatically respond to value changes.
    
    Specified by:
    
    stopLiveWindowMode in interface LiveWindowSendable

Class CANTalon

Nested Class Summary

Nested classes/interfaces inherited from interface edu.wpi.first.wpilibj.CANSpeedController

Field Summary

Fields inherited from interface edu.wpi.first.wpilibj.MotorSafety

Fields inherited from interface edu.wpi.first.wpilibj.CANSpeedController

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Methods inherited from interface edu.wpi.first.wpilibj.CANSpeedController

Field Detail

m_pidSource

Constructor Detail

CANTalon

CANTalon

CANTalon

Method Detail

pidWrite

setPIDSourceType

getPIDSourceType

pidGet

delete

set

setInverted

getInverted

set

reset

isEnabled

getError

setSetpoint

reverseSensor

reverseOutput

get

getEncPosition

setEncPosition

getEncVelocity

getPulseWidthPosition

setPulseWidthPosition

getPulseWidthVelocity

getPulseWidthRiseToFallUs

getPulseWidthRiseToRiseUs

isSensorPresent

getNumberOfQuadIdxRises

getPinStateQuadA

getPinStateQuadB

getPinStateQuadIdx

setAnalogPosition

getAnalogInPosition

getAnalogInRaw

getAnalogInVelocity

getClosedLoopError

setAllowableClosedLoopErr

isFwdLimitSwitchClosed

isRevLimitSwitchClosed

getBrakeEnableDuringNeutral

configEncoderCodesPerRev

configPotentiometerTurns

getTemperature

getOutputCurrent

getOutputVoltage

getBusVoltage

getPosition

setPosition

getSpeed

getControlMode

setControlMode

changeControlMode

setFeedbackDevice

setStatusFrameRateMs

enableControl

enable

disableControl

isControlEnabled

getP

getI

getD

getF

getIZone

getCloseLoopRampRate

GetFirmwareVersion