Struct ctre::motor_control::VictorSPX

pub struct VictorSPX { /* private fields */ }

VEX Victor SPX Motor Controller when used on CAN Bus.

Trait Implementations

impl BaseMotorController for VictorSPX

fn new(device_number: i32) -> VictorSPX

Constructor.

fn handle(&self) -> Handle

fn get_base_id(&self) -> i32

fn get_device_id(&self) -> i32

fn set(
    &self,
    mode: ControlMode,
    demand0: f64,
    demand1_type: DemandType,
    demand1: f64
)

mode - Sets the appropriate output on the talon, depending on the mode.

demand0 - The output value to apply. such as advanced feed forward and/or auxiliary close-looping in firmware.

In PercentOutput, the output is between -1.0 and 1.0, with 0.0 as stopped.

In Current mode, output value is in amperes.

In Velocity mode, output value is in position change / 100ms.

In Position mode, output value is in encoder ticks or an analog value, depending on the sensor. See

In Follower mode, the output value is the integer device ID of the talon to duplicate.

demand1Type - The demand type for demand1.

demand1 - Supplmental output value. Units match the set mode.

fn neutral_output(&self)

Neutral the motor output by setting control mode to disabled.

fn set_neutral_mode(&self, neutral_mode: NeutralMode)

Sets the mode of operation during neutral throttle output.

fn set_sensor_phase(&self, phase_sensor: bool)

Sets the phase of the sensor. Use when controller forward/reverse output doesn’t correlate to appropriate forward/reverse reading of sensor. Pick a value so that positive PercentOutput yields a positive change in sensor. After setting this, user can freely call set_inverted with any value.

fn set_inverted(&self, invert: bool)

Inverts the hbridge output of the motor controller.

fn config_openloop_ramp(
    &self,
    seconds_from_neutral_to_full: f64,
    timeout_ms: i32
) -> ErrorCode

fn config_closedloop_ramp(
    &self,
    seconds_from_neutral_to_full: f64,
    timeout_ms: i32
) -> ErrorCode

fn config_peak_output_forward(
    &self,
    percent_out: f64,
    timeout_ms: i32
) -> ErrorCode

fn config_peak_output_reverse(
    &self,
    percent_out: f64,
    timeout_ms: i32
) -> ErrorCode

fn config_nominal_output_forward(
    &self,
    percent_out: f64,
    timeout_ms: i32
) -> ErrorCode

fn config_nominal_output_reverse(
    &self,
    percent_out: f64,
    timeout_ms: i32
) -> ErrorCode

fn config_neutral_deadband(
    &self,
    percent_deadband: f64,
    timeout_ms: i32
) -> ErrorCode

fn config_voltage_comp_saturation(
    &self,
    voltage: f64,
    timeout_ms: i32
) -> ErrorCode

Configures the Voltage Compensation saturation voltage.

fn config_voltage_measurement_filter(
    &self,
    filter_window_samples: i32,
    timeout_ms: i32
) -> ErrorCode

Configures the voltage measurement filter.

fn enable_voltage_compensation(&self, enable: bool)

Enable voltage compensation. If enabled, voltage compensation works in all control modes.

fn get_bus_voltage(&self) -> Result<f64>

fn get_motor_output_percent(&self) -> Result<f64>

Gets the output percentage of the motor controller, in the interval [-1,+1].

fn get_motor_output_voltage(&self) -> Result<f64>

fn get_output_current(&self) -> Result<f64>

fn get_temperature(&self) -> Result<f64>

Gets the temperature of the motor controller in degrees Celsius.

fn config_selected_feedback_sensor(
    &self,
    feedback_device: RemoteFeedbackDevice,
    pid_idx: i32,
    timeout_ms: i32
) -> ErrorCode

Select the remote feedback device for the motor controller. Most CTRE CAN motor controllers will support remote sensors over CAN.

fn config_selected_feedback_coefficient(
    &self,
    coefficient: f64,
    pid_idx: i32,
    timeout_ms: i32
) -> ErrorCode

The Feedback Coefficient is a scalar applied to the value of the feedback sensor. Useful when you need to scale your sensor values within the closed-loop calculations. Default value is 1.

fn config_remote_feedback_filter(
    &self,
    device_id: i32,
    remote_sensor_source: RemoteSensorSource,
    remote_ordinal: i32,
    timeout_ms: i32
) -> ErrorCode

Select what remote device and signal to assign to Remote Sensor 0 or Remote Sensor 1. After binding a remote device and signal to Remote Sensor X, you may select Remote Sensor X as a PID source for closed-loop features.

fn config_sensor_term(
    &self,
    sensor_term: SensorTerm,
    feedback_device: FeedbackDevice,
    timeout_ms: i32
) -> ErrorCode

Select what sensor term should be bound to switch feedback device. Sensor Sum = Sensor Sum Term 0 - Sensor Sum Term 1 Sensor Difference = Sensor Diff Term 0 - Sensor Diff Term 1 The four terms are specified with this routine. Then Sensor Sum/Difference can be selected for closed-looping.

fn get_selected_sensor_position(&self, pid_idx: i32) -> Result<i32>

Get the selected sensor position (in raw sensor units).

fn get_selected_sensor_velocity(&self, pid_idx: i32) -> Result<i32>

fn set_selected_sensor_position(
    &self,
    sensor_pos: i32,
    pid_idx: i32,
    timeout_ms: i32
) -> ErrorCode

fn set_control_frame_period(
    &self,
    frame: ControlFrame,
    period_ms: i32
) -> ErrorCode

fn set_status_frame_period(
    &self,
    frame: StatusFrame,
    period_ms: i32,
    timeout_ms: i32
) -> ErrorCode

fn get_status_frame_period(
    &self,
    frame: StatusFrame,
    timeout_ms: i32
) -> Result<i32>

fn config_forward_limit_switch_source(
    &self,
    type_: RemoteLimitSwitchSource,
    normal_open_or_close: LimitSwitchNormal,
    device_id: i32,
    timeout_ms: i32
) -> ErrorCode

Configures the forward limit switch for a remote source. For example, a CAN motor controller may need to monitor the Limit-F pin of another Talon or CANifier.

fn config_reverse_limit_switch_source(
    &self,
    type_: RemoteLimitSwitchSource,
    normal_open_or_close: LimitSwitchNormal,
    device_id: i32,
    timeout_ms: i32
) -> ErrorCode

Configures the reverse limit switch for a remote source. For example, a CAN motor controller may need to monitor the Limit-R pin of another Talon or CANifier.

fn override_limit_switches_enable(&self, enable: bool)

fn config_forward_soft_limit_threshold(
    &self,
    forward_sensor_limit: i32,
    timeout_ms: i32
) -> ErrorCode

fn config_reverse_soft_limit_threshold(
    &self,
    reverse_sensor_limit: i32,
    timeout_ms: i32
) -> ErrorCode

fn config_forward_soft_limit_enable(
    &self,
    enable: bool,
    timeout_ms: i32
) -> ErrorCode

fn config_reverse_soft_limit_enable(
    &self,
    enable: bool,
    timeout_ms: i32
) -> ErrorCode

fn override_soft_limits_enable(&self, enable: bool)

fn config_kp(&self, slot_idx: i32, value: f64, timeout_ms: i32) -> ErrorCode

fn config_ki(&self, slot_idx: i32, value: f64, timeout_ms: i32) -> ErrorCode

fn config_kd(&self, slot_idx: i32, value: f64, timeout_ms: i32) -> ErrorCode

fn config_kf(&self, slot_idx: i32, value: f64, timeout_ms: i32) -> ErrorCode

fn config_integral_zone(
    &self,
    slot_idx: i32,
    izone: i32,
    timeout_ms: i32
) -> ErrorCode

fn config_allowable_closedloop_error(
    &self,
    slot_idx: i32,
    allowable_closed_loop_error: i32,
    timeout_ms: i32
) -> ErrorCode

fn config_max_integral_accumulator(
    &self,
    slot_idx: i32,
    iaccum: f64,
    timeout_ms: i32
) -> ErrorCode

fn config_closed_loop_peak_output(
    &self,
    slot_idx: i32,
    percent_out: f64,
    timeout_ms: i32
) -> ErrorCode

fn config_closed_loop_period(
    &self,
    slot_idx: i32,
    loop_time_ms: i32,
    timeout_ms: i32
) -> ErrorCode

fn config_aux_pid_polarity(&self, invert: bool, timeout_ms: i32) -> ErrorCode

fn set_integral_accumulator(
    &self,
    iaccum: f64,
    pid_idx: i32,
    timeout_ms: i32
) -> ErrorCode

fn get_closed_loop_error(&self, pid_idx: i32) -> Result<i32>

fn get_integral_accumulator(&self, pid_idx: i32) -> Result<f64>

fn get_error_derivative(&self, pid_idx: i32) -> Result<f64>

Gets the derivative of the closed-loop error.

fn select_profile_slot(&self, slot_idx: i32, pid_idx: i32) -> ErrorCode

Selects which profile slot to use for closed-loop control.

fn get_closed_loop_target(&self, pid_idx: i32) -> Result<i32>

fn get_active_trajectory_position(&self) -> Result<i32>

Gets the active trajectory target position using MotionMagic/MotionProfile control modes.

fn get_active_trajectory_velocity(&self) -> Result<i32>

Gets the active trajectory target velocity using MotionMagic/MotionProfile control modes.

fn get_active_trajectory_heading(&self) -> Result<f64>

Gets the active trajectory target heading using MotionMagic/MotionProfile control modes.

fn config_motion_cruise_velocity(
    &self,
    sensor_units_per_100ms: i32,
    timeout_ms: i32
) -> ErrorCode

Sets the Motion Magic Cruise Velocity. This is the peak target velocity that the motion magic curve generator can use.

fn config_motion_acceleration(
    &self,
    sensor_units_per_100ms_per_sec: i32,
    timeout_ms: i32
) -> ErrorCode

Sets the Motion Magic Acceleration. This is the target acceleration that the motion magic curve generator can use.

fn clear_motion_profile_trajectories(&self) -> ErrorCode

Clear the buffered motion profile in both motor controller’s RAM (bottom), and in the API (top).

fn get_motion_profile_top_level_buffer_count(&self) -> Result<i32>

Retrieve just the buffer count for the api-level (top) buffer. This routine performs no CAN or data structure lookups, so its fast and ideal if caller needs to quickly poll the progress of trajectory points being emptied into motor controller’s RAM. Otherwise just use get_motion_profile_status.

fn push_motion_profile_trajectory(&self, traj_pt: &TrajectoryPoint) -> ErrorCode

Push another trajectory point into the top level buffer (which is emptied into the motor controller’s bottom buffer as room allows).

fn is_motion_profile_top_level_buffer_full(&self) -> Result<bool>

Retrieve just the buffer full for the api-level (top) buffer. This routine performs no CAN or data structure lookups, so its fast and ideal if caller needs to quickly poll. Otherwise just use get_motion_profile_status.

fn process_motion_profile_buffer(&self)

This must be called periodically to funnel the trajectory points from the API’s top level buffer to the controller’s bottom level buffer. Recommendation is to call this twice as fast as the execution rate of the motion profile. So if MP is running with 20ms trajectory points, try calling this routine every 10ms. All motion profile functions are thread-safe through the use of a mutex, so there is no harm in having the caller utilize threading.

fn get_motion_profile_status(
    &self,
    status_to_fill: &mut MotionProfileStatus
) -> ErrorCode

Retrieve all status information. For best performance, Caller can snapshot all status information regarding the motion profile executer.

fn get_new_motion_profile_status(&self) -> Result<MotionProfileStatus>

Get all motion profile status information. This returns a new MotionProfileStatus. See get_motion_profile_status.

fn clear_motion_profile_has_underrun(&self, timeout_ms: i32) -> ErrorCode

Clear the “Has Underrun” flag. Typically this is called after application has confirmed an underrun had occured.

fn change_motion_control_frame_period(&self, period_ms: i32) -> ErrorCode

Calling application can opt to speed up the handshaking between the robot API and the controller to increase the download rate of the controller’s Motion Profile. Ideally the period should be no more than half the period of a trajectory point.

fn config_motion_profile_trajectory_period(
    &self,
    base_traj_duration_ms: i32,
    timeout_ms: i32
) -> ErrorCode

When trajectory points are processed in the motion profile executer, the MPE determines how long to apply the active trajectory point by summing base_traj_duration_ms with the time_dur of the trajectory point (see TrajectoryPoint).

fn get_last_error(&self) -> ErrorCode

Gets the last error generated by this object. Not all functions return an error code but can potentially report errors. This function can be used to retrieve those error codes.

fn get_faults(&self) -> Result<Faults>

fn get_sticky_faults(&self) -> Result<StickyFaults>

fn clear_sticky_faults(&self, timeout_ms: i32) -> ErrorCode

fn get_firmware_version(&self) -> Result<i32>

Gets the firmware version of the device.

fn has_reset_occurred(&self) -> Result<bool>

Returns true if the device has reset since last call.

fn config_set_custom_param(
    &self,
    new_value: i32,
    param_index: i32,
    timeout_ms: i32
) -> ErrorCode

Sets the value of a custom parameter. This is for arbitrary use.

fn config_get_custom_param(&self, param_index: i32, timout_ms: i32) -> Result<i32>

Gets the value of a custom parameter.

fn config_set_parameter(
    &self,
    param: ParamEnum,
    value: f64,
    sub_value: u8,
    ordinal: i32,
    timeout_ms: i32
) -> ErrorCode

Sets a parameter. Generally this is not used. This can be utilized in

fn config_get_parameter(
    &self,
    param: ParamEnum,
    ordinal: i32,
    timeout_ms: i32
) -> Result<f64>

fn follow(
    &self,
    master_to_follow: &impl BaseMotorController,
    follower_type: FollowerType
)

Set the control mode and output value so that this motor controller will follow another motor controller. Currently supports following Victor SPX and Talon SRX.

impl Debug for VictorSPX

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.