2023-Robot
Robot code for 2023 FRC season by Argos, FRC team #1756
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argos_lib::falcon_config Namespace Reference

Classes

struct  has_forwardLimit_deviceID
 
struct  has_forwardLimit_deviceID< T, decltype((void) T::forwardLimit_deviceID, void())>
 
struct  has_forwardLimit_normalState
 
struct  has_forwardLimit_normalState< T, decltype((void) T::forwardLimit_normalState, void())>
 
struct  has_forwardLimit_source
 
struct  has_forwardLimit_source< T, decltype((void) T::forwardLimit_source, void())>
 
struct  has_inverted
 
struct  has_inverted< T, decltype((void) T::inverted, void())>
 
struct  has_neutralDeadband
 
struct  has_neutralDeadband< T, decltype((void) T::neutralDeadband, void())>
 
struct  has_neutralMode
 
struct  has_neutralMode< T, decltype((void) T::neutralMode, void())>
 
struct  has_nominalOutputForward
 
struct  has_nominalOutputForward< T, decltype((void) T::nominalOutputForward, void())>
 
struct  has_nominalOutputReverse
 
struct  has_nominalOutputReverse< T, decltype((void) T::nominalOutputReverse, void())>
 
struct  has_peakOutputForward
 
struct  has_peakOutputForward< T, decltype((void) T::peakOutputForward, void())>
 
struct  has_peakOutputReverse
 
struct  has_peakOutputReverse< T, decltype((void) T::peakOutputReverse, void())>
 
struct  has_pid0_allowableError
 
struct  has_pid0_allowableError< T, decltype((void) T::pid0_allowableError, void())>
 
struct  has_pid0_iZone
 
struct  has_pid0_iZone< T, decltype((void) T::pid0_iZone, void())>
 
struct  has_pid0_kD
 
struct  has_pid0_kD< T, decltype((void) T::pid0_kD, void())>
 
struct  has_pid0_kF
 
struct  has_pid0_kF< T, decltype((void) T::pid0_kF, void())>
 
struct  has_pid0_kI
 
struct  has_pid0_kI< T, decltype((void) T::pid0_kI, void())>
 
struct  has_pid0_kP
 
struct  has_pid0_kP< T, decltype((void) T::pid0_kP, void())>
 
struct  has_pid0_selectedSensor
 
struct  has_pid0_selectedSensor< T, decltype((void) T::pid0_selectedSensor, void())>
 
struct  has_pid1_allowableError
 
struct  has_pid1_allowableError< T, decltype((void) T::pid1_allowableError, void())>
 
struct  has_pid1_iZone
 
struct  has_pid1_iZone< T, decltype((void) T::pid1_iZone, void())>
 
struct  has_pid1_kD
 
struct  has_pid1_kD< T, decltype((void) T::pid1_kD, void())>
 
struct  has_pid1_kF
 
struct  has_pid1_kF< T, decltype((void) T::pid1_kF, void())>
 
struct  has_pid1_kI
 
struct  has_pid1_kI< T, decltype((void) T::pid1_kI, void())>
 
struct  has_pid1_kP
 
struct  has_pid1_kP< T, decltype((void) T::pid1_kP, void())>
 
struct  has_remoteFilter0_addr
 
struct  has_remoteFilter0_addr< T, decltype((void) T::remoteFilter0_addr, void())>
 
struct  has_remoteFilter0_type
 
struct  has_remoteFilter0_type< T, decltype((void) T::remoteFilter0_type, void())>
 
struct  has_reverseLimit_deviceID
 
struct  has_reverseLimit_deviceID< T, decltype((void) T::reverseLimit_deviceID, void())>
 
struct  has_reverseLimit_normalState
 
struct  has_reverseLimit_normalState< T, decltype((void) T::reverseLimit_normalState, void())>
 
struct  has_reverseLimit_source
 
struct  has_reverseLimit_source< T, decltype((void) T::reverseLimit_source, void())>
 
struct  has_sensorPhase
 
struct  has_sensorPhase< T, decltype((void) T::sensorPhase, void())>
 
struct  has_statorCurrentLimit
 
struct  has_statorCurrentLimit< T, decltype((void) T::statorCurrentLimit, void())>
 
struct  has_statorCurrentThreshold
 
struct  has_statorCurrentThreshold< T, decltype((void) T::statorCurrentThreshold, void())>
 
struct  has_statorCurrentThresholdTime
 
struct  has_statorCurrentThresholdTime< T, decltype((void) T::statorCurrentThresholdTime, void())>
 
struct  has_statusFrameMotorMode
 
struct  has_statusFrameMotorMode< T, decltype((void) T::statusFrameMotorMode, void())>
 
struct  has_supplyCurrentLimit
 
struct  has_supplyCurrentLimit< T, decltype((void) T::supplyCurrentLimit, void())>
 
struct  has_supplyCurrentThreshold
 
struct  has_supplyCurrentThreshold< T, decltype((void) T::supplyCurrentThreshold, void())>
 
struct  has_supplyCurrentThresholdTime
 
struct  has_supplyCurrentThresholdTime< T, decltype((void) T::supplyCurrentThresholdTime, void())>
 
struct  has_voltCompSat
 
struct  has_voltCompSat< T, decltype((void) T::voltCompSat, void())>
 

Functions

template<typename T >
bool FalconConfig (TalonFX &motorController, units::millisecond_t configTimeout)
 Configures a CTRE Falcon with only the fields provided. All other fields are given the factory default values.
 
template<typename CompetitionConfig , typename PracticeConfig >
bool FalconConfig (WPI_TalonFX &motorController, units::millisecond_t configTimeout, argos_lib::RobotInstance instance)
 Configures a CTRE Falcon with configuration values according to specified robot instance.
 

Function Documentation

◆ FalconConfig() [1/2]

template<typename T >
bool argos_lib::falcon_config::FalconConfig ( TalonFX &  motorController,
units::millisecond_t  configTimeout 
)

Configures a CTRE Falcon with only the fields provided. All other fields are given the factory default values.

Template Parameters
TStructure containing any combination of the following members:
  • forwardLimit_deviceID
  • forwardLimit_normalState
  • forwardLimit_source
  • inverted
  • neutralDeadband
  • neutralMode
  • nominalOutputForward
  • nominalOutputReverse
  • peakOutputForward
  • peakOutputReverse
  • pid0_allowableError
  • pid0_iZone
  • pid0_kD
  • pid0_kF
  • pid0_kI
  • pid0_kP
  • pid0_selectedSensor
  • pid1_allowableError
  • pid1_iZone
  • pid1_kD
  • pid1_kF
  • pid1_kI
  • pid1_kP
  • remoteFilter0_addr
  • remoteFilter0_type
  • reverseLimit_deviceID
  • reverseLimit_normalState
  • reverseLimit_source
  • sensorPhase
  • supplyCurrentLimit
  • supplyCurrentThreshold
  • supplyCurrentThresholdTime
  • statorCurrentLimit
  • statorCurrentThreshold
  • statorCurrentThresholdTime
  • voltCompSat
  • statusFrameMotorMode
Parameters
motorControllerFalcon object to configure
configTimeoutTime to wait for response from Falcon
Returns
true Configuration succeeded
false Configuration failed

◆ FalconConfig() [2/2]

template<typename CompetitionConfig , typename PracticeConfig >
bool argos_lib::falcon_config::FalconConfig ( WPI_TalonFX &  motorController,
units::millisecond_t  configTimeout,
argos_lib::RobotInstance  instance 
)

Configures a CTRE Falcon with configuration values according to specified robot instance.

Template Parameters
CompetitionConfigConfigurations to use in competition robot instance
PracticeConfigConfigurations to use in practice robot instance
Parameters
motorControllerFalcon object to configure
configTimeoutTime to wait for response from Falcon
instanceRobot instance to use
Returns
true Configuration succeeded
false Configuration failed