Help keep track of CTRE device configuration classes from season to season.
- Update
vendordeps/Phoenix.jsonto the version you want to check against. - Run unit tests with
gradlew test. - Tests will fail if any fields are added to configuration classes or if the default values have changed.
You can also run the application with gradlew run --quiet to get a CSV list of all configuration fields and their default values.
These checks are up to date with the Phoenix 5.19.4 API.
| Device Type | Value | Default |
|---|---|---|
| TalonSRXConfiguration | peakCurrentLimit | 1 |
| TalonSRXConfiguration | peakCurrentDuration | 1 |
| TalonSRXConfiguration | continuousCurrentLimit | 1 |
| TalonSRXConfiguration | primaryPID.selectedFeedbackSensor | FeedbackDevice.QuadEncoder |
| TalonSRXConfiguration | primaryPID.selectedFeedbackCoefficient | 1 |
| TalonSRXConfiguration | auxiliaryPID.selectedFeedbackSensor | FeedbackDevice.QuadEncoder |
| TalonSRXConfiguration | auxiliaryPID.selectedFeedbackCoefficient | 1 |
| TalonSRXConfiguration | forwardLimitSwitchSource | LimitSwitchSource.FeedbackConnector |
| TalonSRXConfiguration | reverseLimitSwitchSource | LimitSwitchSource.FeedbackConnector |
| TalonSRXConfiguration | forwardLimitSwitchDeviceID | 0 |
| TalonSRXConfiguration | reverseLimitSwitchDeviceID | 0 |
| TalonSRXConfiguration | forwardLimitSwitchNormal | LimitSwitchNormal.NormallyOpen |
| TalonSRXConfiguration | reverseLimitSwitchNormal | LimitSwitchNormal.NormallyOpen |
| TalonSRXConfiguration | sum0Term | FeedbackDevice.QuadEncoder |
| TalonSRXConfiguration | sum1Term | FeedbackDevice.QuadEncoder |
| TalonSRXConfiguration | diff0Term | FeedbackDevice.QuadEncoder |
| TalonSRXConfiguration | diff1Term | FeedbackDevice.QuadEncoder |
| TalonSRXConfiguration | openloopRamp | 0 |
| TalonSRXConfiguration | closedloopRamp | 0 |
| TalonSRXConfiguration | peakOutputForward | 1 |
| TalonSRXConfiguration | peakOutputReverse | -1 |
| TalonSRXConfiguration | nominalOutputForward | 0 |
| TalonSRXConfiguration | nominalOutputReverse | 0 |
| TalonSRXConfiguration | neutralDeadband | 0.04 |
| TalonSRXConfiguration | voltageCompSaturation | 0 |
| TalonSRXConfiguration | voltageMeasurementFilter | 32 |
| TalonSRXConfiguration | velocityMeasurementPeriod | VelocityMeasPeriod.Period_100Ms |
| TalonSRXConfiguration | velocityMeasurementWindow | 64 |
| TalonSRXConfiguration | forwardSoftLimitThreshold | 0 |
| TalonSRXConfiguration | reverseSoftLimitThreshold | 0 |
| TalonSRXConfiguration | forwardSoftLimitEnable | FALSE |
| TalonSRXConfiguration | reverseSoftLimitEnable | FALSE |
| TalonSRXConfiguration | slot0.kP | 0 |
| TalonSRXConfiguration | slot0.kI | 0 |
| TalonSRXConfiguration | slot0.kD | 0 |
| TalonSRXConfiguration | slot0.kF | 0 |
| TalonSRXConfiguration | slot0.integralZone | 0 |
| TalonSRXConfiguration | slot0.allowableClosedloopError | 0 |
| TalonSRXConfiguration | slot0.maxIntegralAccumulator | 0 |
| TalonSRXConfiguration | slot0.closedLoopPeakOutput | 1 |
| TalonSRXConfiguration | slot0.closedLoopPeriod | 1 |
| TalonSRXConfiguration | slot1.kP | 0 |
| TalonSRXConfiguration | slot1.kI | 0 |
| TalonSRXConfiguration | slot1.kD | 0 |
| TalonSRXConfiguration | slot1.kF | 0 |
| TalonSRXConfiguration | slot1.integralZone | 0 |
| TalonSRXConfiguration | slot1.allowableClosedloopError | 0 |
| TalonSRXConfiguration | slot1.maxIntegralAccumulator | 0 |
| TalonSRXConfiguration | slot1.closedLoopPeakOutput | 1 |
| TalonSRXConfiguration | slot1.closedLoopPeriod | 1 |
| TalonSRXConfiguration | slot2.kP | 0 |
| TalonSRXConfiguration | slot2.kI | 0 |
| TalonSRXConfiguration | slot2.kD | 0 |
| TalonSRXConfiguration | slot2.kF | 0 |
| TalonSRXConfiguration | slot2.integralZone | 0 |
| TalonSRXConfiguration | slot2.allowableClosedloopError | 0 |
| TalonSRXConfiguration | slot2.maxIntegralAccumulator | 0 |
| TalonSRXConfiguration | slot2.closedLoopPeakOutput | 1 |
| TalonSRXConfiguration | slot2.closedLoopPeriod | 1 |
| TalonSRXConfiguration | slot3.kP | 0 |
| TalonSRXConfiguration | slot3.kI | 0 |
| TalonSRXConfiguration | slot3.kD | 0 |
| TalonSRXConfiguration | slot3.kF | 0 |
| TalonSRXConfiguration | slot3.integralZone | 0 |
| TalonSRXConfiguration | slot3.allowableClosedloopError | 0 |
| TalonSRXConfiguration | slot3.maxIntegralAccumulator | 0 |
| TalonSRXConfiguration | slot3.closedLoopPeakOutput | 1 |
| TalonSRXConfiguration | slot3.closedLoopPeriod | 1 |
| TalonSRXConfiguration | auxPIDPolarity | FALSE |
| TalonSRXConfiguration | remoteFilter0.remoteSensorDeviceID | 0 |
| TalonSRXConfiguration | remoteFilter0.remoteSensorSource | RemoteSensorSource.Off |
| TalonSRXConfiguration | remoteFilter1.remoteSensorDeviceID | 0 |
| TalonSRXConfiguration | remoteFilter1.remoteSensorSource | RemoteSensorSource.Off |
| TalonSRXConfiguration | motionCruiseVelocity | 0 |
| TalonSRXConfiguration | motionAcceleration | 0 |
| TalonSRXConfiguration | motionCurveStrength | 0 |
| TalonSRXConfiguration | motionProfileTrajectoryPeriod | 0 |
| TalonSRXConfiguration | feedbackNotContinuous | FALSE |
| TalonSRXConfiguration | remoteSensorClosedLoopDisableNeutralOnLOS | FALSE |
| TalonSRXConfiguration | clearPositionOnLimitF | FALSE |
| TalonSRXConfiguration | clearPositionOnLimitR | FALSE |
| TalonSRXConfiguration | clearPositionOnQuadIdx | FALSE |
| TalonSRXConfiguration | limitSwitchDisableNeutralOnLOS | FALSE |
| TalonSRXConfiguration | softLimitDisableNeutralOnLOS | FALSE |
| TalonSRXConfiguration | pulseWidthPeriod_EdgesPerRot | 1 |
| TalonSRXConfiguration | pulseWidthPeriod_FilterWindowSz | 1 |
| TalonSRXConfiguration | trajectoryInterpolationEnable | TRUE |
| Device Type | Value | Default |
|---|---|---|
| TalonFXConfiguration | supplyCurrLimit | Limiting is disabled. |
| TalonFXConfiguration | statorCurrLimit | Limiting is disabled. |
| TalonFXConfiguration | motorCommutation | Trapezoidal |
| TalonFXConfiguration | absoluteSensorRange | Unsigned: 0 to 360 deg (positive full rotation |
| TalonFXConfiguration | integratedSensorOffsetDegrees | 0 |
| TalonFXConfiguration | initializationStrategy | On boot up, set position to zero |
| TalonFXConfiguration | primaryPID.selectedFeedbackSensor | TalonFXFeedbackDevice.IntegratedSensor |
| TalonFXConfiguration | primaryPID.selectedFeedbackCoefficient | 1 |
| TalonFXConfiguration | auxiliaryPID.selectedFeedbackSensor | TalonFXFeedbackDevice.IntegratedSensor |
| TalonFXConfiguration | auxiliaryPID.selectedFeedbackCoefficient | 1 |
| TalonFXConfiguration | forwardLimitSwitchSource | LimitSwitchSource.FeedbackConnector |
| TalonFXConfiguration | reverseLimitSwitchSource | LimitSwitchSource.FeedbackConnector |
| TalonFXConfiguration | forwardLimitSwitchDeviceID | 0 |
| TalonFXConfiguration | reverseLimitSwitchDeviceID | 0 |
| TalonFXConfiguration | forwardLimitSwitchNormal | LimitSwitchNormal.NormallyOpen |
| TalonFXConfiguration | reverseLimitSwitchNormal | LimitSwitchNormal.NormallyOpen |
| TalonFXConfiguration | sum0Term | TalonFXFeedbackDevice.IntegratedSensor |
| TalonFXConfiguration | sum1Term | TalonFXFeedbackDevice.IntegratedSensor |
| TalonFXConfiguration | diff0Term | TalonFXFeedbackDevice.IntegratedSensor |
| TalonFXConfiguration | diff1Term | TalonFXFeedbackDevice.IntegratedSensor |
| TalonFXConfiguration | openloopRamp | 0 |
| TalonFXConfiguration | closedloopRamp | 0 |
| TalonFXConfiguration | peakOutputForward | 1 |
| TalonFXConfiguration | peakOutputReverse | -1 |
| TalonFXConfiguration | nominalOutputForward | 0 |
| TalonFXConfiguration | nominalOutputReverse | 0 |
| TalonFXConfiguration | neutralDeadband | 0.04 |
| TalonFXConfiguration | voltageCompSaturation | 0 |
| TalonFXConfiguration | voltageMeasurementFilter | 32 |
| TalonFXConfiguration | velocityMeasurementPeriod | VelocityMeasPeriod.Period_100Ms |
| TalonFXConfiguration | velocityMeasurementWindow | 64 |
| TalonFXConfiguration | forwardSoftLimitThreshold | 0 |
| TalonFXConfiguration | reverseSoftLimitThreshold | 0 |
| TalonFXConfiguration | forwardSoftLimitEnable | FALSE |
| TalonFXConfiguration | reverseSoftLimitEnable | FALSE |
| TalonFXConfiguration | slot0.kP | 0 |
| TalonFXConfiguration | slot0.kI | 0 |
| TalonFXConfiguration | slot0.kD | 0 |
| TalonFXConfiguration | slot0.kF | 0 |
| TalonFXConfiguration | slot0.integralZone | 0 |
| TalonFXConfiguration | slot0.allowableClosedloopError | 0 |
| TalonFXConfiguration | slot0.maxIntegralAccumulator | 0 |
| TalonFXConfiguration | slot0.closedLoopPeakOutput | 1 |
| TalonFXConfiguration | slot0.closedLoopPeriod | 1 |
| TalonFXConfiguration | slot1.kP | 0 |
| TalonFXConfiguration | slot1.kI | 0 |
| TalonFXConfiguration | slot1.kD | 0 |
| TalonFXConfiguration | slot1.kF | 0 |
| TalonFXConfiguration | slot1.integralZone | 0 |
| TalonFXConfiguration | slot1.allowableClosedloopError | 0 |
| TalonFXConfiguration | slot1.maxIntegralAccumulator | 0 |
| TalonFXConfiguration | slot1.closedLoopPeakOutput | 1 |
| TalonFXConfiguration | slot1.closedLoopPeriod | 1 |
| TalonFXConfiguration | slot2.kP | 0 |
| TalonFXConfiguration | slot2.kI | 0 |
| TalonFXConfiguration | slot2.kD | 0 |
| TalonFXConfiguration | slot2.kF | 0 |
| TalonFXConfiguration | slot2.integralZone | 0 |
| TalonFXConfiguration | slot2.allowableClosedloopError | 0 |
| TalonFXConfiguration | slot2.maxIntegralAccumulator | 0 |
| TalonFXConfiguration | slot2.closedLoopPeakOutput | 1 |
| TalonFXConfiguration | slot2.closedLoopPeriod | 1 |
| TalonFXConfiguration | slot3.kP | 0 |
| TalonFXConfiguration | slot3.kI | 0 |
| TalonFXConfiguration | slot3.kD | 0 |
| TalonFXConfiguration | slot3.kF | 0 |
| TalonFXConfiguration | slot3.integralZone | 0 |
| TalonFXConfiguration | slot3.allowableClosedloopError | 0 |
| TalonFXConfiguration | slot3.maxIntegralAccumulator | 0 |
| TalonFXConfiguration | slot3.closedLoopPeakOutput | 1 |
| TalonFXConfiguration | slot3.closedLoopPeriod | 1 |
| TalonFXConfiguration | auxPIDPolarity | FALSE |
| TalonFXConfiguration | remoteFilter0.remoteSensorDeviceID | 0 |
| TalonFXConfiguration | remoteFilter0.remoteSensorSource | RemoteSensorSource.Off |
| TalonFXConfiguration | remoteFilter1.remoteSensorDeviceID | 0 |
| TalonFXConfiguration | remoteFilter1.remoteSensorSource | RemoteSensorSource.Off |
| TalonFXConfiguration | motionCruiseVelocity | 0 |
| TalonFXConfiguration | motionAcceleration | 0 |
| TalonFXConfiguration | motionCurveStrength | 0 |
| TalonFXConfiguration | motionProfileTrajectoryPeriod | 0 |
| TalonFXConfiguration | feedbackNotContinuous | FALSE |
| TalonFXConfiguration | remoteSensorClosedLoopDisableNeutralOnLOS | FALSE |
| TalonFXConfiguration | clearPositionOnLimitF | FALSE |
| TalonFXConfiguration | clearPositionOnLimitR | FALSE |
| TalonFXConfiguration | clearPositionOnQuadIdx | FALSE |
| TalonFXConfiguration | limitSwitchDisableNeutralOnLOS | FALSE |
| TalonFXConfiguration | softLimitDisableNeutralOnLOS | FALSE |
| TalonFXConfiguration | pulseWidthPeriod_EdgesPerRot | 1 |
| TalonFXConfiguration | pulseWidthPeriod_FilterWindowSz | 1 |
| TalonFXConfiguration | trajectoryInterpolationEnable | TRUE |