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Copy pathtalonfx-18-configs.json
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talonfx-18-configs.json
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{
"Configs": [
{
"Description": "These settings are typically always applied. Note \"Duty Cycle Neutral Deadband\" and \"Neutral Mode\" are not used during Torque-Current control as this is a unique control method.",
"Name": "Motor Output",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"Duty Cycle Neutral Deadband": 0.0,
"Inverted": false,
"Neutral Mode": 1,
"Peak Forward Duty Cycle": 1.0,
"Peak Reverse Duty Cycle": -1.0
}
},
{
"Description": "These current limits are applied in Duty-Cycle and Voltage based control modes.",
"Name": "Current Limits",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"Stator Current Limit": 0.0,
"Stator Current Limit Enable": false,
"Supply Current Limit": 0.0,
"Supply Current Limit Enable": false,
"Supply Current Threshold": 0.0,
"Supply Time Threshold": 0.0
}
},
{
"Description": "Slot 0 Closed Loop Constants. The units depend on the requested closed-loop mode.",
"Name": "Slot 0",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"Slot 0 Gravity Type": 0,
"Slot 0 kA": 0.0,
"Slot 0 kD": 25.0,
"Slot 0 kG": 0.0,
"Slot 0 kI": 0.0,
"Slot 0 kP": 300.0,
"Slot 0 kS": 2.885833333,
"Slot 0 kV": 0.0
}
},
{
"Description": "Slot 1 Closed Loop Constants. The units depend on the requested closed-loop mode.",
"Name": "Slot 1",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"Slot 1 Gravity Type": 0,
"Slot 1 kA": 0.0,
"Slot 1 kD": 0.0,
"Slot 1 kG": 0.0,
"Slot 1 kI": 0.0,
"Slot 1 kP": 0.0,
"Slot 1 kS": 0.0,
"Slot 1 kV": 0.0
}
},
{
"Description": "Slot 2 Closed Loop Constants. The units depend on the requested closed-loop mode.",
"Name": "Slot 2",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"Slot 2 Gravity Type": 0,
"Slot 2 kA": 0.0,
"Slot 2 kD": 0.0,
"Slot 2 kG": 0.0,
"Slot 2 kI": 0.0,
"Slot 2 kP": 0.0,
"Slot 2 kS": 0.0,
"Slot 2 kV": 0.0
}
},
{
"Description": "These settings are applied during Voltage-based control modes.",
"Name": "Voltage",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"Peak Forward Voltage": 16.0,
"Peak Reverse Voltage": -16.0,
"Supply Voltage Lowpass Time Constant": 0.0
}
},
{
"Description": "These setttings are applied during Torque-based control modes.",
"Name": "Torque Current",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"Peak Forward Torque Current": 800.0,
"Peak Reverse Torque Current": -800.0,
"Torque Current Neutral Deadband": 0.0
}
},
{
"Description": "Configures the sensor used for closed-loop and limit features. If using a remote sensor, be sure to configure sensor source and sensor ID.",
"Name": "Feedback",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"Remote Sensor ID": 18,
"Rotor Offset": 0.0,
"Rotor To Sensor Ratio": 12.800000190734863,
"Sensor Source": 5,
"Sensor To Mechanism Ratio": 1.0
}
},
{
"Description": "Configures the sensors used for differential control. All differential control requires a remote Talon FX sensor ID. If using a Pigeon 2 or CANcoder, be sure to also configure its remote sensor ID.",
"Name": "Differential Sensors",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"Differential Sensor Source": 0,
"Remote Sensor ID": 0,
"Remote Talon FX ID": 0
}
},
{
"Description": "Configures the constants used for differential control, such as the differential peak outputs.",
"Name": "Differential Constants",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"Peak Differential Duty Cycle": 2.0,
"Peak Differential Torque Current": 1600.0,
"Peak Differential Voltage": 32.0
}
},
{
"Description": "These ramps are applied during open-loop operation. Torque settings are applied during torque-based control modes. Duty Cycle settings are applied during non-torque-based modes.",
"Name": "Open Loop Ramps",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"Duty Cycle Open Loop Ramp Period": 0.0,
"Torque Open Loop Ramp Period": 0.0,
"Voltage Open Loop Ramp Period": 0.0
}
},
{
"Description": "These ramps are applied during closed-loop operation. Torque settings are applied during torque-based control modes. Duty Cycle settings are applied during non-torque-based modes.",
"Name": "Closed Loop Ramps",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"Duty Cycle Closed Loop Ramp Period": 0.0,
"Torque Closed Loop Ramp Period": 0.0,
"Voltage Closed Loop Ramp Period": 0.0
}
},
{
"Description": "Configs that affect general behavior during closed-looping.",
"Name": "Closed Loop General",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"ContinuousWrap": true
}
},
{
"Description": "These allow for automatic disabling of motor output when limit switch is asserted.",
"Name": "Hardware Limit Switch",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"Forward Limit Auto Set Pos": 0.0,
"Forward Limit Auto Set Pos En": false,
"Forward Limit Enable": true,
"Forward Limit Remote Sensor ID": 0,
"Forward Limit Source": 0,
"Forward Limit Type": 0,
"Reverse Limit Auto Set Pos": 0.0,
"Reverse Limit Auto Set Pos En": false,
"Reverse Limit Enable": true,
"Reverse Limit Remote Sensor ID": 0,
"Reverse Limit Source": 0,
"Reverse Limit Type": 0
}
},
{
"Description": "These allow for automatic disabling of motor ouput when position is out of range.",
"Name": "Software Limit Switch",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"Forward Soft Limit Enable": false,
"Forward Soft Limit Threshold": 0.0,
"Reverse Soft Limit Enable": false,
"Reverse Soft Limit Threshold": 0.0
}
},
{
"Description": "These are used during Motion Magic closed loop operation.",
"Name": "Motion Magic",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"Motion Magic Acceleration": 100.0,
"Motion Magic Cruise Velocity": 10.0,
"Motion Magic Expo kA": 0.075,
"Motion Magic Expo kV": 0.0,
"Motion Magic Jerk": 0.0
}
},
{
"Description": "These are general values for custom applications. Example use may be calibrating your mechanism.",
"Name": "Custom Params",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"Custom Param 0": 0,
"Custom Param 1": 0
}
},
{
"Description": "Configuration of beep features.",
"Name": "Audio",
"Ordinal": 0,
"Sort": 0,
"Type": "",
"Values": {
"Allow Music Dur Disable": false,
"Beep On Boot": true,
"Beep On Config": true
}
}
]
}