Actuator Limits

CTR Electronics actuators, such as the TalonFX, support various kinds of hardware and software limits.

Documentation on wiring limit switches can be found here.

Retrieving Limit Switch State

The state of the forward or reverse limit switch can be retrieved from the API via getForwardLimit() and getReverseLimit().

Java

var forwardLimit = m_motor.getForwardLimit();

if (forwardLimit.getValue() == ForwardLimitValue.ClosedToGround) {
   // do action when forward limit is closed
}

C++

auto& forwardLimit = m_motor.GetForwardLimit();

if (forwardLimit.GetValue() == signals::ForwardLimitValue::ClosedToGround) {
   // do action when forward limit is closed
}