describes current limits for the motor. This was copied (and slightly modified to include units:: types) More...

#include <rmb/motorcontrol/Talon/TalonFXPositionController.h>

Public Attributes
units::ampere_t	statorCurrentLimit = 0.0_A
	The amount of current allowed in the motor (motoring and regen current). This is only applicable for non-torque current control modes. Note this requires the corresponding enable to be true.

bool	statorCurrentLimitEnable = false
	Enable motor stator current limiting.

units::ampere_t	supplyCurrentLimit = 0_A
	The amount of supply current allowed. This is only applicable for non-torque current control modes. Note this requires the corresponding enable to be true. Use SupplyCurrentThreshold and SupplyTimeThreshold to allow brief periods of high-current before limiting occurs.

bool	supplyCurrentLimitEnable = false
	Enable motor supply current limiting.

units::ampere_t	supplyCurrentThreshold = 0_A
	Delay supply current limiting until current exceeds this threshold for longer than SupplyTimeThreshold. This allows current draws above SupplyCurrentLimit for a fixed period of time. This has no effect if SupplyCurrentLimit is greater than this value.

units::second_t	supplyTimeThreshold = 0.0_s
	Allows unlimited current for a period of time before current limiting occurs. Current threshold is the maximum of SupplyCurrentThreshold and SupplyCurrentLimit.

Detailed Description

describes current limits for the motor. This was copied (and slightly modified to include units:: types)

Member Data Documentation

◆ statorCurrentLimit

units::ampere_t rmb::TalonFXPositionControllerHelper::CurrentLimits::statorCurrentLimit = 0.0_A

The amount of current allowed in the motor (motoring and regen current). This is only applicable for non-torque current control modes. Note this requires the corresponding enable to be true.

Minimum Value: 0.0 Maximum Value: 800.0 Default Value: 0 Units: A

◆ statorCurrentLimitEnable

bool rmb::TalonFXPositionControllerHelper::CurrentLimits::statorCurrentLimitEnable = false

Enable motor stator current limiting.

Default Value: False

◆ supplyCurrentLimit

units::ampere_t rmb::TalonFXPositionControllerHelper::CurrentLimits::supplyCurrentLimit = 0_A

The amount of supply current allowed. This is only applicable for non-torque current control modes. Note this requires the corresponding enable to be true. Use SupplyCurrentThreshold and SupplyTimeThreshold to allow brief periods of high-current before limiting occurs.

Minimum Value: 0.0 Maximum Value: 800.0 Default Value: 0 Units: A

◆ supplyCurrentLimitEnable

bool rmb::TalonFXPositionControllerHelper::CurrentLimits::supplyCurrentLimitEnable = false

Enable motor supply current limiting.

Default Value: False

◆ supplyCurrentThreshold

units::ampere_t rmb::TalonFXPositionControllerHelper::CurrentLimits::supplyCurrentThreshold = 0_A

Delay supply current limiting until current exceeds this threshold for longer than SupplyTimeThreshold. This allows current draws above SupplyCurrentLimit for a fixed period of time. This has no effect if SupplyCurrentLimit is greater than this value.

Minimum Value: 0.0 Maximum Value: 511 Default Value: 0 Units: A

◆ supplyTimeThreshold

units::second_t rmb::TalonFXPositionControllerHelper::CurrentLimits::supplyTimeThreshold = 0.0_s

Allows unlimited current for a period of time before current limiting occurs. Current threshold is the maximum of SupplyCurrentThreshold and SupplyCurrentLimit.

Minimum Value: 0.0 Maximum Value: 1.275 Default Value: 0 Units: sec

The documentation for this struct was generated from the following file:

src/rmb/motorcontrol/Talon/TalonFXPositionController.h

Public Attributes