Open-Loop Control

Open-Loop control typically refers to directly controlling device output.

There are open-loop control requests for all TalonFX control output types. With the exception of FOC-only control requests, all open-loop control requests follow the naming pattern {ControlOutputType}Out. For example, the open-loop Voltage control request is called VoltageOut. FOC-only control requests follow the naming pattern {ControlOutputType}.

Java

// users should reuse control requests when possible
var leftRequest = new DutyCycleOut(0.0);
var rightRequest = new DutyCycleOut(0.0);

// retrieve joystick inputs
var forward = -m_driverJoy.getLeftY();
var turn = m_driverJoy.getRightX();

// calculate motor outputs, utilizes a "arcade" style of driving;
// where left Y controls forward and right X controls rotation/turn
var leftOut = forward + turn;
var rightOut = forward - turn;

// set request to motor controller
m_leftLeader.setControl(leftRequest.withOutput(leftOut));
m_rightLeader.setControl(rightRequest.withOutput(rightOut));

C++

// users should reuse control requests when possible
controls::DutyCycleOut leftRequest{0.0};
controls::DutyCycleOut rightRequest{0.0};

// retrieve joystick inputs
auto forward = -m_driverJoy.GetLeftY();
auto turn = m_driverJoy.GetRightX();

// calculate motor outputs, utilizes a "arcade" style of driving;
// where left Y controls forward and right X controls rotation/turn
auto leftOut = forward + turn;
auto rightOut = forward - turn;

// set request to motor controller
m_leftLeader.SetControl(leftRequest.WithOutput(leftOut));
m_rightLeader.SetControl(rightRequest.WithOutput(rightOut));