Malefix/xyz.malefic.frc.pingu.motor.talonfx/TalonFXConfig

TalonFXConfig

class TalonFXConfig : MonguConfig<TalonFX>

Configuration class for TalonFX motors.

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

Constructors

TalonFXConfig

constructor()

Properties

controls

open override val controls: TalonFXControls

The motor controls instance containing all control lambdas for TalonFX.

currentLimits

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

Pair of supply and stator current limits (nullable).

dutyCycleNeutralDeadband

var dutyCycleNeutralDeadband: Double

Deadband for duty cycle output.

extraConfig

var extraConfig: TalonFXConfiguration.() -> Unit?

Optional lambda for additional TalonFXConfiguration customization.

inverted

var inverted: InvertedValue

Motor inversion setting (InvertedValue).

loopRamp

var loopRamp: Pair<Double, Double>

Pair of open-loop and closed-loop ramp rates.

motionMagicPingu

var motionMagicPingu: MagicPingu

Optional Motion Magic configuration.

name

var name: String?

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

neutralMode

var neutralMode: NeutralModeValue

Neutral mode (NeutralModeValue).

pingu

var pingu: Pingu

Optional PID configuration (Pingu).

positionControl

open val positionControl: (TalonFX, Double) -> Unit?

Lambda function for controlling the motor using a position value.

pwmControl

open val pwmControl: (TalonFX, Double) -> Unit?

Lambda function for controlling the motor using PWM (Pulse Width Modulation).

setAlarm

var setAlarm: Boolean

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

softLimits

var softLimits: Pair<Double?, Double?>?

Pair of forward and reverse soft limits (nullable).

stop

open val stop: (TalonFX) -> Unit

Lambda function to stop the motor.

talonConfig

var talonConfig: TalonFXConfiguration?

Optional custom TalonFXConfiguration to use as a base.

velocityControl

open val velocityControl: (TalonFX, Double) -> Unit?

Lambda function for controlling the motor using a velocity value.

voltageControl

open val voltageControl: (TalonFX, Double) -> Unit?

Lambda function for controlling the motor using voltage.

Functions

applyTo

open override fun applyTo(motor: TalonFX)

Applies the configuration to the given TalonFX motor.