TalonFXConfig

Configuration class for TalonFX motors.

Provides properties for configuring TalonFX including inversion, neutral mode, PID, current limits, and soft limits.

Constructors

constructor()

var currentLimits: Pair<Current?, Current?>?

Pair of supply and stator current limits as measured values (nullable). First value is supply current limit, second is stator current limit.

Deadband for duty cycle output.

var extraConfig: TalonFXConfiguration.() -> Unit?

Optional lambda for additional TalonFXConfiguration customization.

var inverted: InvertedValue

Motor inversion setting (InvertedValue).

Pair of open-loop and closed-loop ramp rates in seconds. First value is open-loop ramp, second is closed-loop ramp.

Optional Motion Magic configuration.

Optional name for the motor (for alarm/logging/debugging).

var neutralMode: NeutralModeValue

Neutral mode (NeutralModeValue).

Optional PID configuration (Pingu).

Whether to set an alarm for this motor. Returns true only if alarms are enabled and a name is set.

Pair of forward and reverse soft limits in rotations (nullable). First value is forward soft limit, second is reverse soft limit.

var talonConfig: TalonFXConfiguration?

Optional custom TalonFXConfiguration to use as a base.

open override fun applyTo(motor: TalonFX)

Applies the configuration to the given TalonFX motor.