TALON SRX Software Reference Manualx Victor SPX Manual

• 1. CAN bus Device Basics
  • 1.1. Supported Hardware Platforms
    • 1.1.1. Cross The Road Electronics HERO Control System
    • 1.1.2. roboRIO FRC Control System
• 2. roboRIO Web-based Configuration: Firmware and diagnostics
  • 2.1. Device ID ranges
  • 2.2. Common ID Talons
    • 2.2.1 – Light Device LED
  • 2.3. Firmware Field-upgrade a Talon SRX / Victor SPX
    • 2.3.1. When I update firmware, I get “You do not have permissions…”
    • 2.3.2. What if Firmware Field-upgrade is interrupted?
    • 2.3.3. Other Field-upgrade Failure Modes
    • 2.3.4. Where to get CRF files?
  • 2.4. Self-Test
    • 2.4.1. Clearing Sticky Faults
  • 2.5. Custom Names
    • 2.5.1. Re-default custom name
• 3. Creating a Talon Object (and the basics)
  • 3.1. Programming API and Device ID
    • 3.1.1 Including Libraries (FRC)
    • 3.1.2 Configuration API
      • 3.1.2.1. Configuration API - timeoutMs
      • 3.1.2.2. Factory Default
  • 3.2. New Classes/Virtual Instruments
    • 3.2.1 WPILIB Class integration
    • 3.2.2. LabVIEW
    • 3.2.3. C++
    • 3.2.4. Java
  • 3.3. Setting Output Mode and Value
    • 3.3.1. LabVIEW
    • 3.3.2. C++
    • 3.3.3. Java
    • 3.3.4. Check Control Mode with Self-Test
  • 3.4. WPILib RobotDrive Class
    • 3.4.1. LabVIEW
    • 3.4.2. C++
    • 3.4.3. Java
• 4. Limit Switch and Neutral Brake Mode
  • 4.1. Default Settings
  • 4.2. roboRIO Web-based Configuration: Limit Switch and Brake
  • 4.3. Overriding Brake and Limit Switch with API
    • 4.3.1. LabVIEW
    • 4.3.2. C++
    • 4.3.3. Java
• 5. Getting Status and Signals
  • 5.1. LabVIEW
  • 5.2. C++
  • 5.3. Java
• 6. Setting the Ramp Rate
  • 6.1. LabVIEW
  • 6.2. C++/ Java
  • 6.3. Web-based configuration limitations
• 7. Feedback Device (Sensor Feedback)
  • 7.1. LabVIEW
  • 7.2. C++
  • 7.3. Java
  • 7.4. Correcting sensor direction, best practices.
  • 7.5. Supported Feedback Devices
    • 7.5.1. Quadrature
    • 7.5.2. Analog (Potentiometer / Encoder)
      • 7.5.2.1. Potentiometer (Discontinuous) Sensor
      • 7.5.2.2. LabVIEW Example
      • 7.5.2.2. C++ Example
      • 7.5.2.3. Java Example
    • 7.5.3. Pulse Width Decoder
    • 7.5.4. Cross The Road Electronics Magnetic Encoder (Absolute and Relative)
      • 7.5.4.1. Selecting the Magnetic Encoder
      • 7.5.4.2. CTR Magnetic Encoder (absolute) – C++
      • 7.5.4.3. CTR Magnetic Encoder (absolute) – Java
  • 7.6. Multiple Talon SRXs and single sensor
  • 7.7. Pulse Width - Checking Sensor Health
  • 7.8. Velocity Measurement
    • 7.8.1. Changing Velocity Measurement Parameters.
      • 7.8.1.1. Changing Parameters – HERO C#
      • 7.8.1.2. Changing Parameters – Hero LifeBoat
      • 7.8.1.2. Changing Parameters – HERO C#
      • _talon.SetVelocityMeasurementPeriod(CTRE.TalonSrx.VelocityMeasurementPeriod.Period_10Ms);
      • _talon.SetVelocityMeasurementWindow(20);
      • 7.8.1.3. Changing Parameters – FRC Java
      • 7.8.1.4. Changing Parameters – FRC C++
      • 7.8.1.5. Changing Parameters – FRC LabVIEW
    • 7.8.2. Recommended Procedure
    • 7.8.3. Self-Test Velocity Settings
      • 7.8.3.1. Self-Test reads 0 for Period and Window.
  • 7.9. Tachometer Measurement
    • 7.9.1. Tachometer Measurement – LabVIEW
    • 7.9.2. Tachometer Measurement – Java
    • 7.9.2. Tachometer Measurement – C++
• 8. Soft Limits
  • 8.1. LabVIEW
  • 8.2. C++
  • 8.3. Java
• 9. Special Features
  • 9.1. Follower Mode
    • 9.1.1. LabVIEW
    • 9.1.2. C++
    • 9.1.3. Java
    • 9.1.4. Correcting Follower Direction
      • 9.1.4.1. Correcting Follower Direction – C++
      • 9.1.4.2. Correcting Follower Direction – Java
      • 9.1.4.3. Correcting Follower Direction – LabVIEW
  • 9.2. Voltage Compensation
    • 9.2.1. LabVIEW
    • 9.2.2. C++
    • 9.2.3. Java
    • 9.2.4. Self-Test
  • 9.3. Current Limits
    • 9.3.1. Current Limit – LabVIEW
    • 9.3.2. Current Limit – C++
    • 9.3.3. Current Limit – Java
• 10. Control Modes (Closed-Loop)
  • 10.1. Position Closed-Loop Control Mode
  • 10.2. Current Closed-Loop Control Mode
  • 10.3. Velocity Closed-Loop Control Mode
  • 10.4. Motion Profile Control Mode
  • 10.5. Peak/Nominal Output
    • 10.5.1. Peak/Nominal Closed-Loop Output – LabVIEW
    • 10.5.2. Peak/Nominal Closed-Loop Output – C++
    • 10.5.3. Peak/Nominal Closed-Loop Output – Java
    • 10.5.4. Peak/Nominal Closed-Loop Output – Web based Configuration Self-Test
  • 10.6. Allowable Closed-Loop Error
    • 10.6.1. Allowable Closed-Loop Error – LabVIEW
    • 10.6.2. Allowable Closed-Loop Error – C++
    • 10.6.3. Allowable Closed-Loop Error – Java
    • 10.6.4. Allowable Closed-Loop Error – Web based Configuration Self-Test
  • 10.7. Motion Magic Control Mode
• 11. Motor Control Profile Parameters
  • 11.1. Persistent storage and Reset/Startup behavior
  • 11.2. Inspecting Signals
• 12. Closed-Loop Code Excerpts/Walkthroughs
  • 12.1. Setting Motor Control Profile Parameters
    • 12.1.1. LabVIEW
    • 12.1.2. C++
    • 12.1.3. Java
  • 12.2. Setting/Clearing Integral Accumulator (I Accum)
    • 12.2.1. LabVIEW
    • 12.2.3. Java
    • 12.2.4. C++
    • 12.2.3. Is Integral Accum cleared any other time?
  • 12.3. Current Closed-Loop Walkthrough – LabVIEW
    • 12.3.1. Current Closed-Loop Walkthrough – Collect Sensor Data – LabVIEW
    • 12.3.2. Current Closed-Loop Walkthrough – Calculating Feed Forward– LabVIEW
    • 12.3.3. Current Closed-Loop Walkthrough – Dialing Proportional Gain – LabVIEW
  • 12.4. Velocity Closed-Loop Walkthrough – Java
    • 12.4.1. Velocity Closed-Loop Walkthrough – Collect Sensor Data – Java
    • 12.4.2. Velocity Closed-Loop Walkthrough – Calculating Feed Forward– Java
    • 12.4.3. Velocity Closed-Loop Walkthrough – Dialing Proportional Gain – Java
  • 12.5. Velocity Closed-Loop Example – LabVIEW
  • 12.6. Motion Magic Closed-Loop Walkthrough – Java
    • 12.6.1. Motion Magic Closed-Loop Walkthrough – General Requirements
    • 12.6.2. Motion Magic Closed-Loop Walkthrough – Collect Sensor Data – Java
      • 12.6.2.1. Is velocity magnitude correct?
      • 12.6.2.2. Is direction correct?
      • 12.6.2.3. Sweep motor output and plots signals
      • 12.6.2.4. Measurements
    • 12.6.23. Motion Magic Closed-Loop Walkthrough – Calculate F-Gain – Java
    • 12.6.4. Motion Magic Closed-Loop Walkthrough – Initial Cruise-Velocity/Acceleration – Java
    • 12.6.35. Motion Magic Closed-Loop Walkthrough – P-Gain – Java
    • 12.6.6. Motion Magic Closed-Loop Walkthrough – D-Gain – Java
    • 12.6.7. Motion Magic Closed-Loop Walkthrough – I-Gain – Java
• 13. Setting Sensor Position
  • 13.1. Setting Sensor Position – LabVIEW
  • 13.2. Setting Sensor Position – C++
  • 13.3. Setting Sensor Position – Java
  • 13.4. Auto Clear Position using Index Pin
    • 13.4.1. Setting Sensor Position – LabVIEW
    • 13.4.2. Setting Sensor Position – Java
    • 13.4.3. Setting Sensor Position – C++
• 14. Fault Flags
  • 14.1. Fault Flags - LabVIEW
  • 14.2. Fault Flags - C++
  • 14.3. Fault Flags - Java
  • 14.4. Fault Flags – Clearing
• 15. CAN bus Utilization/Error metrics
  • 15.1. How many Talons can we use?
• 16. Troubleshooting Tips and Common Questions
  • 16.1. When I press the B/C CAL button, the brake LED does not change, neutral behavior does not change.
  • 16.2. The robot is TeleOperated/Autonomous enabled, but the Talon SRX continues to blink orange (disabled).
  • 16.3. When I attach/power a particular Talon SRX to CAN bus, The LEDs on every Talon SRX occasionally blink red. Motor drive seems normal.
  • 16.4. If I have a slave Talon SRX following a master Talon SRX, and the master Talon SRX is disconnected/unpowered, what will the slave Talon SRX do?
  • 16.5. Is there any harm in creating a software Talon SRX for a device ID that’s not on the CAN bus? Will removing a Talon SRX from the CAN bus adversely affect other CAN devices?
  • 16.6. Driver Station log says “Firm Vers could not be retrieved”.
  • 16.7. Driver Station log says “Firmware too old”
  • 16.8. Why are there multiple ways to get the same sensor data? GetSensorCollection().GetEncoder() versus GetSelectedSensor()?
  • 16.9. All CAN devices have red LEDs. Recommended Preliminary checks for CAN bus.
  • 16.10. Driver Station reports “MotorSafetyHelper.cpp: A timeout…”, motor drive no longer works. roboRIO Web-based Configuration says “No Drive” mode? Driver Station reports error -44075?
  • 16.11. Motor drive stutters, misbehaves? Intermittent enable/disable?
  • 16.12. What to expect when devices are disconnected in roboRIO’s Web-based Configuration. Failed Self-Test?
  • 16.13. How do I get the raw ADC value (or voltage) on the Analog Input pin?
  • 16.14. Recommendation for using relative sensors.
  • 16.15. Does anything get reset or lost after firmware updates?
  • 16.16. Analog Position seems to be stuck around ~100 units?
  • 16.17. Limit switch behavior doesn’t match expected settings.
  • 16.18. How fast can I control just ONE Talon SRX?
  • 16.19. Expected symptoms when there is excessive signal reflection.
  • 16.20. LabVIEW application reads incorrect Sensor Position. Sensor Position jumps to zero or is missing counts.
  • 16.21. CAN devices do not appear in the roboRIO Web-based config.
  • 16.22. When I make a change to a setting in the roboRIO Web-based configuration and immediately flash firmware into the Talon, the setting does not stick?
  • 16.23. My mechanism has multiple Talon SRXs and one sensor. Can I still use the closed-loop/motion-profile modes?
  • 16.24. My Closed-Loop is not working? Now what?
    • 16.24.1. Make sure Talon has latest firmware.
    • 16.24.2. Confirm sensor is in phase with motor.
    • 16.24.3. Confirm Slave/Follower Talons are driving
    • 16.24.4. Drive (Master) Talon manually
    • 16.24.5. Re-enable Closed-Loop
    • 16.24.6. Start with a simple gain set
      • 16.24.6.1. Start with a simple gain set – Position Closed-Loop
      • 16.24.6.2. Start with a simple gain set – Velocity Closed-Loop
    • 16.24.7. Confirm gains are set
  • 16.25. Where can I find application examples?
  • 16.26. Can RobotDrive be used with Talon SRXs? What if there are six Talons?
  • 16.27. How fast does the closed-loop run?
  • 16.28. Driver Station log reports: The transmission queue is full. Wait until frames in the queue have been sent and try again.
• 17. Units and Term Definitions
  • 17.1. Signal Definitions and Sensor Units
    • 17.1.1. (Quadrature) Encoder Position
    • 17.1.2. Analog (Encoder/Potentiometer)
    • 17.1.3. Motor output
    • 17.1.4. (Open-Loop) Ramp
    • 17.1.5. (Closed-Loop) Ramp
    • 17.1.6. Integral Zone (I Zone)
    • 17.1.7. Integral Accumulator (I Accum)
    • 17.1.8. Motor Invert
    • 17.1.9. Sensor Phase
    • 17.1.10. Closed-Loop Error
    • 17.1.11. Closed-Loop gains
  • 17.2. Sensor Resolutions
• 18. How is the closed-loop implemented?
• 19. Motor Safety Helper
  • 19.1. Best practices
  • 19.2. C++ example
  • 19.3. Java example
  • 19.4. LabVIEW Example
  • 19.5. RobotDrive
• 20. Going deeper - How does the framing work?
  • 20.1. General Status 1
  • 20.2. Feedback0 Status 2
  • 20.3. Quadrature Encoder Status 3
  • 20.4. Analog Input / Temperature / Battery Voltage Status 4
  • 20.5. Pulse Width Status 8
  • 20.6. Targets Status 10 (Motion Profile and Motion Magic)
  • 20.7. PIDF0 Status 13
  • 20.8. Modifying Status Frame Period
    • 20.8.1. C++
    • 20.8.2. Java
    • 20.8.3. LabVIEW
  • 20.9. Control Frame (Control 3)
  • 20.10. Modifying the Control Frame Period
    • 20.10.1. Modifying the Control Frame Rate – C++
    • 20.10.2. Modifying the Control Frame Rate – Java
    • 20.10.3. Modifying the Control Frame Rate – LabVIEW
• 21. Functional Limitations
  • 21.1. roboRIO power up: User should manually refresh the web-based configuration after rebooting roboRIO.
  • 21.2. Phoenix 5.1.3.1: Motion profile disabled in 2018 kickoff firmware.
  • 21.3. Two sets of Param declarations for auto-clear position parameters.
  • 21.4. getClosedLoopTarget() return milliamperes.
  • 21.5. Auto-clear position feature on Quadrature Idx only works for rising edges.
• 22. CRF Firmware Version Information
• 23. Document Revision Information