StatusSignal<Double> problem

Technical
1

I have been trying to implement Swerve onto the 2024 version code. I saw that there were a lot of methods from TalonFX were gone. I have several questions, I will list them below:

  1. Since the WPI_TalonFX is removed, now they are using the phoenix6 TalonFX lib, I was trying to find the configFactoryDefault command and was not able to find it. What is it?

  2. Also there are commands gone in CANcoder lib too, I can’t find the configAbsoluteSensorRange and configFactoryDefault. What is it?

  3. Who do I cast or convert the StatuesSignal values to a double?

  4. What is the command to getSelectedSensorPosition and getSelectedSensorVelocity and setSelectedSensorPosition in phoenix6 lib?

I would appreciate anyone finding these things.

2
3

  1. To config factory default use: m_motor.getConfigurator().apply(new TalonFXConfiguration());

  2. For absolute sensor range create a cancoder configurator object and set this equal to any of the options in the AbsoluteSensorRangeValue enum: cancoder_config.MagnetSensor.AbsoluteSensorRange
    and setting factory default is the same as it is for the motor.

  3. .getValueAsDouble() converts a status signal to a double

  4. m_motor.getPosition() and m_motor.getVelocity()

4

Thank you so much for the help.

One more thing, what’s the command for getMotorOutputPercent in for TalonFX?

5

Not completely sure, maybe getDutyCycle()? All of the TalonFX methods are here CoreTalonFX (CTRE Phoenix 6 Java 24.1.0)

6

can confirm:

image
image1334×226 17.6 KB

sourced from this extremely useful pdf: https://pro.docs.ctr-electronics.com/_/downloads/en/latest/pdf/
it solved all my migration issues in like 10 minutes

1 Like
7

It’s probably easier to read on the website:

Here’s the migration guide specifically:

And here’s the full API reference:

8

If anyone using Swerve on RobotTrajectory, what new command for PPSwerveControllerCommand on new PathPlanner 2.0 lib?

9

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