CTRE Phoenix C++ 5.33.0
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Configurables available to base motor controllers. More...
#include <ctre/phoenix/motorcontrol/can/BaseMotorController.h>
Public Member Functions | |
BaseMotorControllerConfiguration () | |
std::string | toString () |
std::string | toString (std::string prependString) |
Public Member Functions inherited from ctre::phoenix::CustomParamConfiguration | |
CustomParamConfiguration () | |
std::string | toString () |
std::string | toString (std::string prependString) |
Public Attributes | |
double | openloopRamp |
Seconds to go from 0 to full in open loop. More... | |
double | closedloopRamp |
Seconds to go from 0 to full in closed loop. More... | |
double | peakOutputForward |
Peak output in forward direction [0,1]. More... | |
double | peakOutputReverse |
Peak output in reverse direction [-1,0]. More... | |
double | nominalOutputForward |
Nominal/Minimum output in forward direction [0,1]. More... | |
double | nominalOutputReverse |
Nominal/Minimum output in reverse direction [-1,0]. More... | |
double | neutralDeadband |
Neutral deadband [0.001, 0.25]. More... | |
double | voltageCompSaturation |
This is the max voltage to apply to the hbridge when voltage compensation is enabled. More... | |
int | voltageMeasurementFilter |
Number of samples in rolling average for voltage. More... | |
ctre::phoenix::sensors::SensorVelocityMeasPeriod | velocityMeasurementPeriod |
Desired period for velocity measurement. More... | |
int | velocityMeasurementWindow |
Desired window for velocity measurement. More... | |
double | forwardSoftLimitThreshold |
Threshold for soft limits in forward direction (in raw sensor units) More... | |
double | reverseSoftLimitThreshold |
Threshold for soft limits in reverse direction (in raw sensor units) More... | |
bool | forwardSoftLimitEnable |
Enable forward soft limit. More... | |
bool | reverseSoftLimitEnable |
Enable reverse soft limit. More... | |
SlotConfiguration | slot0 |
Configuration for slot 0. More... | |
SlotConfiguration | slot1 |
Configuration for slot 1. More... | |
SlotConfiguration | slot2 |
Configuration for slot 2. More... | |
SlotConfiguration | slot3 |
Configuration for slot 3. More... | |
bool | auxPIDPolarity |
PID polarity inversion. More... | |
FilterConfiguration | remoteFilter0 |
Configuration for RemoteFilter 0. More... | |
FilterConfiguration | remoteFilter1 |
Configuration for RemoteFilter 1. More... | |
double | motionCruiseVelocity |
Motion Magic cruise velocity in raw sensor units per 100 ms. More... | |
double | motionAcceleration |
Motion Magic acceleration in (raw sensor units per 100 ms) per second. More... | |
int | motionCurveStrength |
Zero to use trapezoidal motion during motion magic. More... | |
int | motionProfileTrajectoryPeriod |
Motion profile base trajectory period in milliseconds. More... | |
bool | feedbackNotContinuous |
Determine whether feedback sensor is continuous or not. More... | |
bool | remoteSensorClosedLoopDisableNeutralOnLOS |
Disable neutral'ing the motor when remote sensor is lost on CAN bus. More... | |
bool | clearPositionOnLimitF |
Clear the position on forward limit. More... | |
bool | clearPositionOnLimitR |
Clear the position on reverse limit. More... | |
bool | clearPositionOnQuadIdx |
Clear the position on index. More... | |
bool | limitSwitchDisableNeutralOnLOS |
Disable neutral'ing the motor when remote limit switch is lost on CAN bus. More... | |
bool | softLimitDisableNeutralOnLOS |
Disable neutral'ing the motor when remote soft limit is lost on CAN bus. More... | |
int | pulseWidthPeriod_EdgesPerRot |
Number of edges per rotation for a tachometer sensor. More... | |
int | pulseWidthPeriod_FilterWindowSz |
Desired window size for a tachometer sensor. More... | |
bool | trajectoryInterpolationEnable |
Enable motion profile trajectory point interpolation (defaults to true). More... | |
Public Attributes inherited from ctre::phoenix::CustomParamConfiguration | |
int | customParam0 |
Custom Param 0. More... | |
int | customParam1 |
Custom Param 1. More... | |
bool | enableOptimizations |
Enable optimizations for ConfigAll (defaults true) More... | |
Configurables available to base motor controllers.
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prependString | String to prepend to configs |
bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::auxPIDPolarity |
PID polarity inversion.
Standard Polarity: Primary Output = PID0 + PID1, Auxiliary Output = PID0 - PID1,
Inverted Polarity: Primary Output = PID0 - PID1, Auxiliary Output = PID0 + PID1,
bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::clearPositionOnLimitF |
Clear the position on forward limit.
bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::clearPositionOnLimitR |
Clear the position on reverse limit.
bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::clearPositionOnQuadIdx |
Clear the position on index.
double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::closedloopRamp |
Seconds to go from 0 to full in closed loop.
bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::feedbackNotContinuous |
Determine whether feedback sensor is continuous or not.
bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::forwardSoftLimitEnable |
Enable forward soft limit.
double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::forwardSoftLimitThreshold |
Threshold for soft limits in forward direction (in raw sensor units)
bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::limitSwitchDisableNeutralOnLOS |
Disable neutral'ing the motor when remote limit switch is lost on CAN bus.
double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::motionAcceleration |
Motion Magic acceleration in (raw sensor units per 100 ms) per second.
double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::motionCruiseVelocity |
Motion Magic cruise velocity in raw sensor units per 100 ms.
int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::motionCurveStrength |
Zero to use trapezoidal motion during motion magic.
[1,8] for S-Curve, higher value for greater smoothing.
int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::motionProfileTrajectoryPeriod |
Motion profile base trajectory period in milliseconds.
The period specified in a trajectory point will be added on to this value
double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::neutralDeadband |
Neutral deadband [0.001, 0.25].
double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::nominalOutputForward |
Nominal/Minimum output in forward direction [0,1].
double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::nominalOutputReverse |
Nominal/Minimum output in reverse direction [-1,0].
double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::openloopRamp |
Seconds to go from 0 to full in open loop.
double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::peakOutputForward |
Peak output in forward direction [0,1].
double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::peakOutputReverse |
Peak output in reverse direction [-1,0].
int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::pulseWidthPeriod_EdgesPerRot |
Number of edges per rotation for a tachometer sensor.
int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::pulseWidthPeriod_FilterWindowSz |
Desired window size for a tachometer sensor.
FilterConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::remoteFilter0 |
Configuration for RemoteFilter 0.
FilterConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::remoteFilter1 |
Configuration for RemoteFilter 1.
bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::remoteSensorClosedLoopDisableNeutralOnLOS |
Disable neutral'ing the motor when remote sensor is lost on CAN bus.
bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::reverseSoftLimitEnable |
Enable reverse soft limit.
double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::reverseSoftLimitThreshold |
Threshold for soft limits in reverse direction (in raw sensor units)
SlotConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::slot0 |
Configuration for slot 0.
SlotConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::slot1 |
Configuration for slot 1.
SlotConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::slot2 |
Configuration for slot 2.
SlotConfiguration ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::slot3 |
Configuration for slot 3.
bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::softLimitDisableNeutralOnLOS |
Disable neutral'ing the motor when remote soft limit is lost on CAN bus.
bool ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::trajectoryInterpolationEnable |
Enable motion profile trajectory point interpolation (defaults to true).
ctre::phoenix::sensors::SensorVelocityMeasPeriod ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::velocityMeasurementPeriod |
Desired period for velocity measurement.
int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::velocityMeasurementWindow |
Desired window for velocity measurement.
double ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::voltageCompSaturation |
int ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration::voltageMeasurementFilter |
Number of samples in rolling average for voltage.