Feature request: Documentation: Full TalonFX Current Limit API guide

[samneff72]

Feature Requests

Feature request in as much detail as possible.

Update "New API in 2020" section at https://phoenix-documentation.readthedocs.io/en/latest/ch13_MC.html#new-api-in-2020 to include complete details (descriptions & typical values) associated with common settings available in the TalonFX Current Limiting API, or at least direct links to code examples that work for supply-limiting in 2020.

Stretch goal: complete details for all settings for TalonFX Current Limiting on both supply & stator sides

Why it is beneficial.

The existing (1/27/2020) public-facing current limiting documentation does not have a complete list of settings & common values required to make the feature work in 2020 on the TalonFX API.

https://phoenix-documentation.readthedocs.io/en/latest/ch13_MC.html#new-api-in-2020

The existing public-facing current limiting code examples are for the 2019 API

https://github.com/CrossTheRoadElec/Phoenix-Examples-Languages/tree/master/Java/Current%20Limit/src/main/java/frc/robot

https://github.com/CrossTheRoadElec/Phoenix-Examples-Languages/tree/master/Java/CurrentClosedLoop/src/main/java/frc/robot

The ability to limit current on the TalonFX (similar to the featureset available on the TalonSRX) was a significant part of our team's buying decision on the Falcon500. If the feature is available but is not documented for us to activate, it might as well not be available.

A series of steps to test the feature after it is implemented

Documentation update

[samneff72]

Relevant Chief thread https://www.chiefdelphi.com/t/current-limiting-talonfx-values/374780/11

[JCaporuscio]

The Supply Current Limit for Talon FX is identical to the traditional current limiting in the Talon SRX.

The only difference is that the parameters are bundled into a single configuration object so only a single API call is needed.

For Java:
API Call: http://www.ctr-electronics.com/downloads/api/java/html/classcom_1_1ctre_1_1phoenix_1_1motorcontrol_1_1can_1_1_talon_f_x.html#a302c7824cf2728ee03f1b739a14e2a35
Config Object:http://www.ctr-electronics.com/downloads/api/java/html/classcom_1_1ctre_1_1phoenix_1_1motorcontrol_1_1_supply_current_limit_configuration.html

These API docs are also available in the intellisense (or javadoc jar from the installer/maven) in vscode.

These functions are listed in the doc, but I can add a code snippet of the API call.
Beyond this, is there any other point of confusion with the new API?

[samneff72]

That's rad, definitely better than last year. Good change. Thanks for the direct link into the API call & config object for java! I agree we should add a code snippet or two in the doc, I think that'll make it much easier for students to understand and work with instead of forcing them to dig into the API.... and giving them a baseline value to start with would be really helpful. //One common supply-side current limiting case is to enable the feature to prevent a TalonFX controller from pulling more than 45A from the PDP, starting when any current flows (0A threshold) immediately (0ms after threshold) boolean enable = true; // enable feature double currentLimit = 45; // limit current to this value, in amps double triggerThresholdCurrent = 0; // threshold current to begin limiting after, in amps double triggerThresholdTime = 0; // time in milliseconds after threshold current is observed to begin limiting talonFX.configSupplyCurrentLimit(enable, currentLimit, triggerThresholdCurrent, triggerThresholdTime) The really accessible code examples for the TalonSRX current limiting in the SRX User Guide were a fantastic asset when we started using them a few years ago, looking for something similar here. Best Regards, Sam Neff

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On Mon, Jan 27, 2020 at 11:56 AM Jacob Caporuscio ***@***.***> wrote: The Supply Current Limit for Talon FX is identical to the traditional current limiting in the Talon SRX. The only difference is that the parameters are bundled into a single configuration object so only a single API call is needed. For Java: API Call: http://www.ctr-electronics.com/downloads/api/java/html/classcom_1_1ctre_1_1phoenix_1_1motorcontrol_1_1can_1_1_talon_f_x.html#a302c7824cf2728ee03f1b739a14e2a35 Config Object: http://www.ctr-electronics.com/downloads/api/java/html/classcom_1_1ctre_1_1phoenix_1_1motorcontrol_1_1_supply_current_limit_configuration.html These API docs are also available in the intellisense (or javadoc jar from the installer/maven) in vscode. These functions are listed in the doc, but I can add a code snippet of the API call. Beyond this, is there any other point of confusion with the new API? — You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <#63>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AB66OU443MYJ6OMTZ2YPRSLQ7434TANCNFSM4KMHBPZA> .