Package frc.spectrumLib.talonFX

Class TalonFXFactory

java.lang.Object

frc.spectrumLib.talonFX.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 com.ctre.phoenix6.hardware.TalonFX	createConfigTalon(CanDeviceId id, com.ctre.phoenix6.configs.TalonFXConfiguration config)
static com.ctre.phoenix6.hardware.TalonFX	createDefaultTalon(CanDeviceId id)
static com.ctre.phoenix6.hardware.TalonFX	createPermanentFollowerTalon(CanDeviceId followerId, com.ctre.phoenix6.hardware.TalonFX leaderTalonFX, com.ctre.phoenix6.signals.MotorAlignmentValue motorAlignment)	Follow the motor output of another Talon.
static com.ctre.phoenix6.configs.TalonFXConfiguration	getDefaultConfig()

Methods inherited from class java.lang.Object

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

Method Details

createDefaultTalon

public static com.ctre.phoenix6.hardware.TalonFX createDefaultTalon(CanDeviceId id)

createConfigTalon

public static com.ctre.phoenix6.hardware.TalonFX createConfigTalon(CanDeviceId id,
 com.ctre.phoenix6.configs.TalonFXConfiguration config)

createPermanentFollowerTalon

public static com.ctre.phoenix6.hardware.TalonFX createPermanentFollowerTalon(CanDeviceId followerId,
 com.ctre.phoenix6.hardware.TalonFX leaderTalonFX,
 com.ctre.phoenix6.signals.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 com.ctre.phoenix6.configs.TalonFXConfiguration getDefaultConfig()