argos_lib::falcon_config Namespace Reference

Classes
struct	has_dutyCycleNeutralDeadband
struct	has_dutyCycleNeutralDeadband< T, decltype((void) T::dutyCycleNeutralDeadband, void())>
struct	has_dutyCycleOpenLoopRampPeriod
struct	has_dutyCycleOpenLoopRampPeriod< T, decltype((void) T::dutyCycleOpenLoopRampPeriod, void())>
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_motionMagic_acceleration
struct	has_motionMagic_acceleration< T, decltype((void) T::motionMagic_acceleration, void())>
struct	has_motionMagic_cruiseVelocity
struct	has_motionMagic_cruiseVelocity< T, decltype((void) T::motionMagic_cruiseVelocity, void())>
struct	has_motionMagic_expo_kA
struct	has_motionMagic_expo_kA< T, decltype((void) T::motionMagic_expo_kA, void())>
struct	has_motionMagic_expo_kV
struct	has_motionMagic_expo_kV< T, decltype((void) T::motionMagic_expo_kV, void())>
struct	has_motionMagic_jerk
struct	has_motionMagic_jerk< T, decltype((void) T::motionMagic_jerk, 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_gravityType
struct	has_pid0_gravityType< T, decltype((void) T::pid0_gravityType, void())>
struct	has_pid0_kA
struct	has_pid0_kA< T, decltype((void) T::pid0_kA, void())>
struct	has_pid0_kD
struct	has_pid0_kD< T, decltype((void) T::pid0_kD, void())>
struct	has_pid0_kG
struct	has_pid0_kG< T, decltype((void) T::pid0_kG, 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_kS
struct	has_pid0_kS< T, decltype((void) T::pid0_kS, void())>
struct	has_pid0_kV
struct	has_pid0_kV< T, decltype((void) T::pid0_kV, void())>
struct	has_pid1_gravityType
struct	has_pid1_gravityType< T, decltype((void) T::pid1_gravityType, void())>
struct	has_pid1_kA
struct	has_pid1_kA< T, decltype((void) T::pid1_kA, void())>
struct	has_pid1_kD
struct	has_pid1_kD< T, decltype((void) T::pid1_kD, void())>
struct	has_pid1_kG
struct	has_pid1_kG< T, decltype((void) T::pid1_kG, 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_pid1_kS
struct	has_pid1_kS< T, decltype((void) T::pid1_kS, void())>
struct	has_pid1_kV
struct	has_pid1_kV< T, decltype((void) T::pid1_kV, 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_rotorToSensorRatio
struct	has_rotorToSensorRatio< T, decltype((void) T::rotorToSensorRatio, void())>
struct	has_selectedSensor
struct	has_selectedSensor< T, decltype((void) T::selectedSensor, void())>
struct	has_selectedSensor_addr
struct	has_selectedSensor_addr< T, decltype((void) T::selectedSensor_addr, void())>
struct	has_sensorToMechanismRatio
struct	has_sensorToMechanismRatio< T, decltype((void) T::sensorToMechanismRatio, void())>
struct	has_statorCurrentLimit
struct	has_statorCurrentLimit< T, decltype((void) T::statorCurrentLimit, 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_supplyCurrentLowerLimit
struct	has_supplyCurrentLowerLimit< T, decltype((void) T::supplyCurrentLowerLimit, void())>
struct	has_supplyCurrentLowerTime
struct	has_supplyCurrentLowerTime< T, decltype((void) T::supplyCurrentLowerTime, void())>
struct	has_voltageOpenLoopRampPeriod
struct	has_voltageOpenLoopRampPeriod< T, decltype((void) T::voltageOpenLoopRampPeriod, void())>

Functions
template<typename T >
bool	FalconConfig (ctre::phoenix6::hardware::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 (ctre::phoenix6::hardware::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	(	ctre::phoenix6::hardware::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

T

Structure containing any combination of the following members: forwardLimit_deviceID forwardLimit_normalState forwardLimit_source inverted neutralDeadband neutralMode dutyCycleNeutralDeadband peakOutputForward peakOutputReverse voltageOpenLoopRampPeriod dutyCycleOpenLoopRampPeriod pid0_kP pid0_kI pid0_kD pid0_kS pid0_kV pid0_kA pid0_kG pid0_gravityType pid1_kP pid1_kI pid1_kD pid1_kS pid1_kV pid1_kA pid1_kG pid1_gravityType motionMagic_cruiseVelocity motionMagic_acceleration motionMagic_jerk motionMagic_expo_kV motionMagic_expo_kA reverseLimit_deviceID reverseLimit_normalState reverseLimit_source rotorToSensorRatio selectedSensor selectedSensor_addr sensorToMechanismRatio statorCurrentLimit statusFrameMotorMode supplyCurrentLimit supplyCurrentLowerLimit supplyCurrentLowerTime

Parameters

motorController	Falcon object to configure
configTimeout	Time 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	(	ctre::phoenix6::hardware::TalonFX &	motorController,
		units::millisecond_t	configTimeout,
		argos_lib::RobotInstance	instance )

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

Template Parameters

CompetitionConfig	Configurations to use in competition robot instance
PracticeConfig	Configurations to use in practice robot instance

Parameters

motorController	Falcon object to configure
configTimeout	Time to wait for response from Falcon
instance	Robot instance to use

Returns

true Configuration succeeded

false Configuration failed