TalonFX Motor Controller Introduction

TalonFX is the Motor Contoller used by Kraken Series, it is intergrated in the motor so there’s no specific image for it.

Attention

VendorDeps: Phoenix6

Motor Definition

public TalonFX motor;
public TalonFXConfiguration config;

public void KrakenMotorConfig(){
     motor = new TalonFX(0);
     config = new TalonFXConfiguration();

     //Current Limitations to 80 Amps
     config.CurrentLimits
         .withStatorCurrentLimit(80)
         .withStatorCurrentLimitEnable(true);

     //configure inverted and neural mode (IdleMode for SparkMax)
     config.MotorOutput
         .withInverted(InvertedValue.Clockwise_Positive)
         .withNeutralMode(NeutralModeValue.Brake);
 }

and you can drive the motor by using these two method

public void normalDrive(dobule speed){
   motor.set(speed);
}

//or

pubic DutyCycleOut driving = new DutyCycleOut(0.0);
pubic void DutyCycleDrive(double speed){
   motor.setControl(driving.withOutput(speed))
}

Note

You can check out this table if you want to know what’s the differences between Brake and Coast.