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CanTalonSRX Class Reference

CAN TALON SRX driver. More...

#include <CanTalonSRX.h>

Inheritance diagram for CanTalonSRX:
CtreCanNode

Public Types

enum  param_t {
  eProfileParamSlot0_P = 1, eProfileParamSlot0_I = 2, eProfileParamSlot0_D = 3, eProfileParamSlot0_F = 4,
  eProfileParamSlot0_IZone = 5, eProfileParamSlot0_CloseLoopRampRate = 6, eProfileParamSlot1_P = 11, eProfileParamSlot1_I = 12,
  eProfileParamSlot1_D = 13, eProfileParamSlot1_F = 14, eProfileParamSlot1_IZone = 15, eProfileParamSlot1_CloseLoopRampRate = 16,
  eProfileParamSoftLimitForThreshold = 21, eProfileParamSoftLimitRevThreshold = 22, eProfileParamSoftLimitForEnable = 23, eProfileParamSoftLimitRevEnable = 24,
  eOnBoot_BrakeMode = 31, eOnBoot_LimitSwitch_Forward_NormallyClosed = 32, eOnBoot_LimitSwitch_Reverse_NormallyClosed = 33, eOnBoot_LimitSwitch_Forward_Disable = 34,
  eOnBoot_LimitSwitch_Reverse_Disable = 35, eFault_OverTemp = 41, eFault_UnderVoltage = 42, eFault_ForLim = 43,
  eFault_RevLim = 44, eFault_HardwareFailure = 45, eFault_ForSoftLim = 46, eFault_RevSoftLim = 47,
  eStckyFault_OverTemp = 48, eStckyFault_UnderVoltage = 49, eStckyFault_ForLim = 50, eStckyFault_RevLim = 51,
  eStckyFault_ForSoftLim = 52, eStckyFault_RevSoftLim = 53, eAppliedThrottle = 61, eCloseLoopErr = 62,
  eFeedbackDeviceSelect = 63, eRevMotDuringCloseLoopEn = 64, eModeSelect = 65, eProfileSlotSelect = 66,
  eRampThrottle = 67, eRevFeedbackSensor = 68, eLimitSwitchEn = 69, eLimitSwitchClosedFor = 70,
  eLimitSwitchClosedRev = 71, eSensorPosition = 73, eSensorVelocity = 74, eCurrent = 75,
  eBrakeIsEnabled = 76, eEncPosition = 77, eEncVel = 78, eEncIndexRiseEvents = 79,
  eQuadApin = 80, eQuadBpin = 81, eQuadIdxpin = 82, eAnalogInWithOv = 83,
  eAnalogInVel = 84, eTemp = 85, eBatteryV = 86, eResetCount = 87,
  eResetFlags = 88, eFirmVers = 89, eSettingsChanged = 90, eQuadFilterEn = 91,
  ePidIaccum = 93, eStatus1FrameRate = 94, eStatus2FrameRate = 95, eStatus3FrameRate = 96,
  eStatus4FrameRate = 97, eStatus6FrameRate = 98, eStatus7FrameRate = 99, eClearPositionOnIdx = 100,
  ePeakPosOutput = 104, eNominalPosOutput = 105, ePeakNegOutput = 106, eNominalNegOutput = 107,
  eQuadIdxPolarity = 108, eStatus8FrameRate = 109, eAllowPosOverflow = 110, eProfileParamSlot0_AllowableClosedLoopErr = 111,
  eNumberPotTurns = 112, eNumberEncoderCPR = 113, ePwdPosition = 114, eAinPosition = 115,
  eProfileParamVcompRate = 116, eProfileParamSlot1_AllowableClosedLoopErr = 117, eStatus9FrameRate = 118, eMotionProfileHasUnderrunErr = 119,
  eReserved120 = 120, eLegacyControlMode = 121
}
 Signal enumeration for generic signal access. More...
 

Public Member Functions

 CanTalonSRX (int deviceNumber=0, int controlPeriodMs=kDefaultControlPeriodMs, int enablePeriodMs=kDefaultEnablePeriodMs)
 
void Set (double value)
 
CTR_Code SetParam (param_t paramEnum, double value)
 Send a one shot frame to set an arbitrary signal. More...
 
CTR_Code RequestParam (param_t paramEnum)
 Asks TALON to immedietely respond with signal value. More...
 
CTR_Code GetParamResponse (param_t paramEnum, double &value)
 
CTR_Code GetParamResponseInt32 (param_t paramEnum, int &value)
 
CTR_Code SetPgain (unsigned slotIdx, double gain)
 These signals are backed up in flash and will survive a power cycle. More...
 
CTR_Code SetIgain (unsigned slotIdx, double gain)
 
CTR_Code SetDgain (unsigned slotIdx, double gain)
 
CTR_Code SetFgain (unsigned slotIdx, double gain)
 
CTR_Code SetIzone (unsigned slotIdx, int zone)
 
CTR_Code SetCloseLoopRampRate (unsigned slotIdx, int closeLoopRampRate)
 
CTR_Code SetVoltageCompensationRate (double voltagePerMs)
 
CTR_Code SetSensorPosition (int pos)
 
CTR_Code SetForwardSoftLimit (int forwardLimit)
 
CTR_Code SetReverseSoftLimit (int reverseLimit)
 
CTR_Code SetForwardSoftEnable (int enable)
 
CTR_Code SetReverseSoftEnable (int enable)
 
CTR_Code GetPgain (unsigned slotIdx, double &gain)
 
CTR_Code GetIgain (unsigned slotIdx, double &gain)
 
CTR_Code GetDgain (unsigned slotIdx, double &gain)
 
CTR_Code GetFgain (unsigned slotIdx, double &gain)
 
CTR_Code GetIzone (unsigned slotIdx, int &zone)
 
CTR_Code GetCloseLoopRampRate (unsigned slotIdx, int &closeLoopRampRate)
 
CTR_Code GetVoltageCompensationRate (double &voltagePerMs)
 
CTR_Code GetForwardSoftLimit (int &forwardLimit)
 
CTR_Code GetReverseSoftLimit (int &reverseLimit)
 
CTR_Code GetForwardSoftEnable (int &enable)
 
CTR_Code GetReverseSoftEnable (int &enable)
 
CTR_Code GetPulseWidthRiseToFallUs (int &param)
 
CTR_Code IsPulseWidthSensorPresent (int &param)
 
CTR_Code SetModeSelect (int modeSelect, int demand)
 
CTR_Code SetStatusFrameRate (unsigned frameEnum, unsigned periodMs)
 Change the periodMs of a TALON's status frame. More...
 
CTR_Code ClearStickyFaults ()
 Clear all sticky faults in TALON.
 
void ChangeMotionControlFramePeriod (uint32_t 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. More...
 
void ClearMotionProfileTrajectories ()
 Clear the buffered motion profile in both Talon RAM (bottom), and in the API (top).
 
uint32_t GetMotionProfileTopLevelBufferCount ()
 Retrieve just the buffer count for the api-level (top) buffer. More...
 
bool IsMotionProfileTopLevelBufferFull ()
 Retrieve just the buffer full for the api-level (top) buffer. More...
 
CTR_Code PushMotionProfileTrajectory (int targPos, int targVel, int profileSlotSelect, int timeDurMs, int velOnly, int isLastPoint, int zeroPos)
 Push another trajectory point into the top level buffer (which is emptied into the Talon's bottom buffer as room allows). More...
 
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. More...
 
CTR_Code GetMotionProfileStatus (uint32_t &flags, uint32_t &profileSlotSelect, int32_t &targPos, int32_t &targVel, uint32_t &topBufferRemaining, uint32_t &topBufferCnt, uint32_t &btmBufferCnt, uint32_t &outputEnable)
 Retrieve all status information. More...
 
CTR_Code GetFault_OverTemp (int &param)
 
CTR_Code GetFault_UnderVoltage (int &param)
 
CTR_Code GetFault_ForLim (int &param)
 
CTR_Code GetFault_RevLim (int &param)
 
CTR_Code GetFault_HardwareFailure (int &param)
 
CTR_Code GetFault_ForSoftLim (int &param)
 
CTR_Code GetFault_RevSoftLim (int &param)
 
CTR_Code GetStckyFault_OverTemp (int &param)
 
CTR_Code GetStckyFault_UnderVoltage (int &param)
 
CTR_Code GetStckyFault_ForLim (int &param)
 
CTR_Code GetStckyFault_RevLim (int &param)
 
CTR_Code GetStckyFault_ForSoftLim (int &param)
 
CTR_Code GetStckyFault_RevSoftLim (int &param)
 
CTR_Code GetAppliedThrottle (int &param)
 
CTR_Code GetCloseLoopErr (int &param)
 
CTR_Code GetFeedbackDeviceSelect (int &param)
 
CTR_Code GetModeSelect (int &param)
 
CTR_Code GetLimitSwitchEn (int &param)
 
CTR_Code GetLimitSwitchClosedFor (int &param)
 
CTR_Code GetLimitSwitchClosedRev (int &param)
 
CTR_Code GetSensorPosition (int &param)
 
CTR_Code GetSensorVelocity (int &param)
 
CTR_Code GetCurrent (double &param)
 
CTR_Code GetBrakeIsEnabled (int &param)
 
CTR_Code GetEncPosition (int &param)
 
CTR_Code GetEncVel (int &param)
 
CTR_Code GetEncIndexRiseEvents (int &param)
 
CTR_Code GetQuadApin (int &param)
 
CTR_Code GetQuadBpin (int &param)
 
CTR_Code GetQuadIdxpin (int &param)
 
CTR_Code GetAnalogInWithOv (int &param)
 
CTR_Code GetAnalogInVel (int &param)
 
CTR_Code GetTemp (double &param)
 
CTR_Code GetBatteryV (double &param)
 
CTR_Code GetResetCount (int &param)
 
CTR_Code GetResetFlags (int &param)
 
CTR_Code GetFirmVers (int &param)
 
CTR_Code GetPulseWidthPosition (int &param)
 
CTR_Code GetPulseWidthVelocity (int &param)
 
CTR_Code GetPulseWidthRiseToRiseUs (int &param)
 
CTR_Code GetActTraj_IsValid (int &param)
 
CTR_Code GetActTraj_ProfileSlotSelect (int &param)
 
CTR_Code GetActTraj_VelOnly (int &param)
 
CTR_Code GetActTraj_IsLast (int &param)
 
CTR_Code GetOutputType (int &param)
 
CTR_Code GetHasUnderrun (int &param)
 
CTR_Code GetIsUnderrun (int &param)
 
CTR_Code GetNextID (int &param)
 
CTR_Code GetBufferIsFull (int &param)
 
CTR_Code GetCount (int &param)
 
CTR_Code GetActTraj_Velocity (int &param)
 
CTR_Code GetActTraj_Position (int &param)
 
CTR_Code SetDemand (int param)
 
CTR_Code SetOverrideLimitSwitchEn (int param)
 
CTR_Code SetFeedbackDeviceSelect (int param)
 
CTR_Code SetRevMotDuringCloseLoopEn (int param)
 
CTR_Code SetOverrideBrakeType (int param)
 
CTR_Code SetModeSelect (int param)
 
CTR_Code SetProfileSlotSelect (int param)
 
CTR_Code SetRampThrottle (int param)
 
CTR_Code SetRevFeedbackSensor (int param)
 
- Public Member Functions inherited from CtreCanNode
 CtreCanNode (UINT8 deviceNumber)
 
UINT8 GetDeviceNumber ()
 

Static Public Attributes

static const int kDefaultControlPeriodMs = 10
 
static const int kDefaultEnablePeriodMs = 50
 
static const int kDefaultControl6PeriodMs = 10
 
static const int kMode_DutyCycle = 0
 
static const int kMode_PositionCloseLoop = 1
 
static const int kMode_VelocityCloseLoop = 2
 
static const int kMode_CurrentCloseLoop = 3
 
static const int kMode_VoltCompen = 4
 
static const int kMode_SlaveFollower = 5
 
static const int kMode_MotionProfile = 6
 
static const int kMode_NoDrive = 15
 
static const int kLimitSwitchOverride_UseDefaultsFromFlash = 1
 
static const int kLimitSwitchOverride_DisableFwd_DisableRev = 4
 
static const int kLimitSwitchOverride_DisableFwd_EnableRev = 5
 
static const int kLimitSwitchOverride_EnableFwd_DisableRev = 6
 
static const int kLimitSwitchOverride_EnableFwd_EnableRev = 7
 
static const int kBrakeOverride_UseDefaultsFromFlash = 0
 
static const int kBrakeOverride_OverrideCoast = 1
 
static const int kBrakeOverride_OverrideBrake = 2
 
static const int kFeedbackDev_DigitalQuadEnc = 0
 
static const int kFeedbackDev_AnalogPot = 2
 
static const int kFeedbackDev_AnalogEncoder = 3
 
static const int kFeedbackDev_CountEveryRisingEdge = 4
 
static const int kFeedbackDev_CountEveryFallingEdge = 5
 
static const int kFeedbackDev_PosIsPulseWidth = 8
 
static const int kProfileSlotSelect_Slot0 = 0
 
static const int kProfileSlotSelect_Slot1 = 1
 
static const int kStatusFrame_General = 0
 
static const int kStatusFrame_Feedback = 1
 
static const int kStatusFrame_Encoder = 2
 
static const int kStatusFrame_AnalogTempVbat = 3
 
static const int kStatusFrame_PulseWidthMeas = 4
 
static const int kStatusFrame_MotionProfile = 5
 
static const int kMotionProfileFlag_ActTraj_IsValid = 0x1
 
static const int kMotionProfileFlag_HasUnderrun = 0x2
 
static const int kMotionProfileFlag_IsUnderrun = 0x4
 
static const int kMotionProfileFlag_ActTraj_IsLast = 0x8
 
static const int kMotionProfileFlag_ActTraj_VelOnly = 0x10
 
static const int kMotionProf_Disabled = 0
 
static const int kMotionProf_Enable = 1
 
static const int kMotionProf_Hold = 2
 

Additional Inherited Members

- Protected Member Functions inherited from CtreCanNode
void RegisterRx (uint32_t arbId)
 
void RegisterTx (uint32_t arbId, uint32_t periodMs)
 Schedule a CAN Frame for periodic transmit. More...
 
void RegisterTx (uint32_t arbId, uint32_t periodMs, uint32_t dlc, const uint8_t *initialFrame)
 Schedule a CAN Frame for periodic transmit. More...
 
void UnregisterTx (uint32_t arbId)
 
CTR_Code GetRx (uint32_t arbId, uint8_t *dataBytes, uint32_t timeoutMs)
 
void FlushTx (uint32_t arbId)
 
bool ChangeTxPeriod (uint32_t arbId, uint32_t periodMs)
 
template<typename T >
txTask< T > GetTx (uint32_t arbId)
 
template<class T >
void FlushTx (T &par)
 
template<class T >
recMsg< T > GetRx (uint32_t arbId, uint32_t timeoutMs)
 
- Protected Attributes inherited from CtreCanNode
UINT8 _deviceNumber
 

Detailed Description

CAN TALON SRX driver.

The TALON SRX is designed to instrument all runtime signals periodically. The default periods are chosen to support 16 TALONs with 10ms update rate for control (throttle or setpoint). However these can be overridden with SetStatusFrameRate.

See Also
SetStatusFrameRate The getters for these unsolicited signals are auto generated at the bottom of this module.

Likewise most control signals are sent periodically using the fire-and-forget CAN API. The setters for these unsolicited signals are auto generated at the bottom of this module.

Signals that are not available in an unsolicited fashion are the Close Loop gains. For teams that have a single profile for their TALON close loop they can use either the webpage to configure their TALONs once or set the PIDF, Izone, CloseLoopRampRate, etc... once in the robot application. These parameters are saved to flash so once they are loaded in the TALON, they will persist through power cycles and mode changes.

For teams that have one or two profiles to switch between, they can use the same strategy since there are two slots to choose from and the ProfileSlotSelect is periodically sent in the 10 ms control frame.

For teams that require changing gains frequently, they can use the soliciting API to get and set those parameters. Most likely they will only need to set them in a periodic fashion as a function of what motion the application is attempting. If this API is used, be mindful of the CAN utilization reported in the driver station.

If calling application has used the config routines to configure the selected feedback sensor, then all positions are measured in floating point precision rotations. All sensor velocities are specified in floating point precision RPM.

See Also
ConfigPotentiometerTurns
ConfigEncoderCodesPerRev HOWEVER, if calling application has not called the config routine for selected feedback sensor, then all getters/setters for position/velocity use the native engineering units of the Talon SRX firm (just like in 2015). Signals explained below.

Encoder position is measured in encoder edges. Every edge is counted (similar to roboRIO 4X mode). Analog position is 10 bits, meaning 1024 ticks per rotation (0V => 3.3V). Use SetFeedbackDeviceSelect to select which sensor type you need. Once you do that you can use GetSensorPosition() and GetSensorVelocity(). These signals are updated on CANBus every 20ms (by default). If a relative sensor is selected, you can zero (or change the current value) using SetSensorPosition.

Analog Input and quadrature position (and velocity) are also explicitly reported in GetEncPosition, GetEncVel, GetAnalogInWithOv, GetAnalogInVel. These signals are available all the time, regardless of what sensor is selected at a rate of 100ms. This allows easy instrumentation for "in the pits" checking of all sensors regardless of modeselect. The 100ms rate is overridable for teams who want to acquire sensor data for processing, not just instrumentation. Or just select the sensor using SetFeedbackDeviceSelect to get it at 20ms.

Velocity is in position ticks / 100ms.

All output units are in respect to duty cycle (throttle) which is -1023(full reverse) to +1023 (full forward). This includes demand (which specifies duty cycle when in duty cycle mode) and rampRamp, which is in throttle units per 10ms (if nonzero).

Pos and velocity close loops are calc'd as err = target - posOrVel. iErr += err; if( (IZone!=0) and abs(err) > IZone) ClearIaccum() output = P X err + I X iErr + D X dErr + F X target dErr = err - lastErr P, I, and D gains are always positive. F can be negative. Motor direction can be reversed using SetRevMotDuringCloseLoopEn if sensor and motor are out of phase. Similarly feedback sensor can also be reversed (multiplied by -1) if you prefer the sensor to be inverted.

P gain is specified in throttle per error tick. For example, a value of 102 is ~9.9% (which is 102/1023) throttle per 1 ADC unit(10bit) or 1 quadrature encoder edge depending on selected sensor.

I gain is specified in throttle per integrated error. For example, a value of 10 equates to ~0.99% (which is 10/1023) for each accumulated ADC unit (10 bit) or 1 quadrature encoder edge depending on selected sensor. Close loop and integral accumulator runs every 1ms.

D gain is specified in throttle per derivative error. For example a value of 102 equates to ~9.9% (which is 102/1023) per change of 1 unit (ADC or encoder) per ms.

I Zone is specified in the same units as sensor position (ADC units or quadrature edges). If pos/vel error is outside of this value, the integrated error will auto-clear... if( (IZone!=0) and abs(err) > IZone) ClearIaccum() ...this is very useful in preventing integral windup and is highly recommended if using full PID to keep stability low.

CloseLoopRampRate is in throttle units per 1ms. Set to zero to disable ramping. Works the same as RampThrottle but only is in effect when a close loop mode and profile slot is selected.

auto generated using spreadsheet and wpiclassgen.py https://docs.google.com/spreadsheets/d/1OU_ZV7fZLGYUQ-Uhc8sVAmUmWTlT8XBFYK8lfjg_tac/edit#gid=1766046967

Member Enumeration Documentation

Signal enumeration for generic signal access.

Although every signal is enumerated, only use this for traffic that must be solicited. Use the auto generated getters/setters at bottom of this header as much as possible.

Member Function Documentation

void CanTalonSRX::ChangeMotionControlFramePeriod ( uint32_t  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.

CTR_Code CanTalonSRX::GetMotionProfileStatus ( uint32_t &  flags,
uint32_t &  profileSlotSelect,
int32_t &  targPos,
int32_t &  targVel,
uint32_t &  topBufferRemaining,
uint32_t &  topBufferCnt,
uint32_t &  btmBufferCnt,
uint32_t &  outputEnable 
)

Retrieve all 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]flagsbitfield for status bools. Starting with least significant bit: IsValid, HasUnderrun, IsUnderrun, IsLast, VelOnly.

IsValid set when MP executer is processing a trajectory point, and that point's status is instrumented with IsLast, VelOnly, targPos, targVel. However if MP executor is not processing a trajectory point, then this flag is false, and the instrumented signals will be zero. HasUnderrun is set anytime the MP executer is ready to pop another trajectory point from the Talon's RAM, but the buffer is empty. It can only be cleared by using SetParam(eMotionProfileHasUnderrunErr,0); IsUnderrun is set when the MP executer is ready for another point, but the buffer is empty, and cleared when the MP executer does not need another point. HasUnderrun shadows this registor when this register gets set, however HasUnderrun stays asserted until application has process it, and IsUnderrun auto-clears when the condition is resolved. IsLast is set/cleared based on the MP executer's current trajectory point's IsLast value. This assumes IsLast was set when PushMotionProfileTrajectory was used to insert the currently processed trajectory point. VelOnly is set/cleared based on the MP executer's current trajectory point's VelOnly value.

Parameters
[out]profileSlotSelectThe currently processed trajectory point's selected slot. This can differ in the currently selected slot used for Position and Velocity servo modes.
[out]targPosThe currently processed trajectory point's position in native units. This param is zero if IsValid is zero.
[out]targVelThe currently processed trajectory point's velocity in native units. This param is zero if IsValid is zero.
[out]topBufferRemThe remaining number of points in the top level buffer.
[out]topBufferCntThe number of points in the top level buffer to be sent to Talon.
[out]btmBufferCntThe number of points in the bottom level buffer inside Talon.
Returns
CTR error code
uint32_t CanTalonSRX::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.
bool CanTalonSRX::IsMotionProfileTopLevelBufferFull ( )

Retrieve just the buffer full 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. Otherwise just use GetMotionProfileStatus.

Returns
number of trajectory points in the top buffer.
void CanTalonSRX::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.

CTR_Code CanTalonSRX::PushMotionProfileTrajectory ( int  targPos,
int  targVel,
int  profileSlotSelect,
int  timeDurMs,
int  velOnly,
int  isLastPoint,
int  zeroPos 
)

Push another trajectory point into the top level buffer (which is emptied into the Talon's bottom buffer as room allows).

Parameters
targPosservo position in native Talon units (sensor units).
targVelvelocity to feed-forward in native Talon units (sensor units per 100ms).
profileSlotSelectwhich slot to pull PIDF gains from. Currently supports 0 or 1.
timeDurMstime in milliseconds of how long to apply this point.
velOnlyset 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.
isLastPointset 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 eventually 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.
zeroPosset 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.
CTR_Code CanTalonSRX::RequestParam ( param_t  paramEnum)

Asks TALON to immedietely respond with signal value.

This API is only used for signals that are not sent periodically. This can be useful for reading params that rarely change like Limit Switch settings and PIDF values.

Parameters
paramto request.
CTR_Code CanTalonSRX::SetParam ( param_t  paramEnum,
double  value 
)

Send a one shot frame to set an arbitrary signal.

Most signals are in the control frame so avoid using this API unless you have to. Use this api for... -A motor controller profile signal eProfileParam_XXXs. These are backed up in flash. If you are gain-scheduling then call this periodically. -Default brake and limit switch signals... eOnBoot_XXXs. Avoid doing this, use the override signals in the control frame. Talon will automatically send a PARAM_RESPONSE after the set, so GetParamResponse will catch the latest value after a couple ms.

CTR_Code CanTalonSRX::SetPgain ( unsigned  slotIdx,
double  gain 
)

These signals are backed up in flash and will survive a power cycle.

If your application requires changing these values consider using both slots and switch between slot0 <=> slot1. If your application requires changing these signals frequently then it makes sense to leverage this API. Getters don't block, so it may require several calls to get the latest value.

CTR_Code CanTalonSRX::SetStatusFrameRate ( unsigned  frameEnum,
unsigned  periodMs 
)

Change the periodMs of a TALON's status frame.

See kStatusFrame_* enums for what's available.


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