Package frc.spectrumLib.hardware

Class TalonFXFactory

java.lang.Object

frc.spectrumLib.hardware.TalonFXFactory

public class TalonFXFactory
extends Object

Creates CANTalon objects and configures all the parameters we care about to factory defaults. Closed-loop and sensor parameters are not set, as these are expected to be set by the application.

Method Summary

Modifier and Type	Method	Description
static TalonFX	createConfigTalon(CanDeviceId id, TalonFXConfiguration config)	Creates a TalonFX and applies the supplied configuration.
static TalonFX	createDefaultTalon(CanDeviceId id)	Creates a TalonFX configured with Spectrum's default parameter set.
static TalonFX	createPermanentFollowerTalon(CanDeviceId followerId, TalonFX leaderTalonFX, MotorAlignmentValue motorAlignment)	Follow the motor output of another Talon.
static TalonFXConfiguration	getDefaultConfig()	Builds a TalonFXConfiguration populated with Spectrum's standard defaults: brake neutral mode, counter-clockwise positive invert, 4 % duty-cycle deadband, 40 A supply current limit, software and hardware limits disabled, rotor sensor feedback, and audio cues enabled.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

createDefaultTalon

public static TalonFX createDefaultTalon(CanDeviceId id)

Creates a TalonFX configured with Spectrum's default parameter set.

Parameters:

id - CAN device identifier (device number + bus name)

Returns:

the configured TalonFX

createConfigTalon

public static TalonFX createConfigTalon(CanDeviceId id,
 TalonFXConfiguration config)

Creates a TalonFX and applies the supplied configuration.

Parameters:

id - CAN device identifier

config - The TalonFXConfiguration to apply

Returns:

the configured TalonFX

createPermanentFollowerTalon

public static TalonFX createPermanentFollowerTalon(CanDeviceId followerId,
 TalonFX leaderTalonFX,
 MotorAlignmentValue motorAlignment)

Follow the motor output of another Talon.

Parameters:

followerId - Device ID of the follower.

leaderTalonFX - The leader TalonFX to follow.

motorAlignment - Set to Aligned for motor invert to match the leader's configured Invert - which is typical when leader and follower are mechanically linked and spin in the same direction. Set to Opposed for motor invert to oppose the leader's configured Invert - this is typical where the leader and follower mechanically spin in opposite directions.

getDefaultConfig

public static TalonFXConfiguration getDefaultConfig()

Builds a TalonFXConfiguration populated with Spectrum's standard defaults: brake neutral mode, counter-clockwise positive invert, 4 % duty-cycle deadband, 40 A supply current limit, software and hardware limits disabled, rotor sensor feedback, and audio cues enabled.

Returns:

a new configuration object with default values applied