ctre::phoenix::motorcontrol::can::SlotConfiguration Struct Reference

Configurables available to a slot. More...

#include <ctre/phoenix/motorcontrol/can/BaseMotorController.h>

Public Member Functions
	SlotConfiguration ()
std::string	toString ()
std::string	toString (std::string prependString)

Public Attributes
double	kP
	P Gain. More...
double	kI
	I Gain. More...
double	kD
	D Gain. More...
double	kF
	F Gain. More...
double	integralZone
	Integral zone (in native units) More...
double	allowableClosedloopError
	Allowable closed loop error to neutral (in native units) More...
double	maxIntegralAccumulator
	Max integral accumulator (in native units) More...
double	closedLoopPeakOutput
	Peak output from closed loop [0,1]. More...
int	closedLoopPeriod
	Desired period of closed loop [1,64]ms. More...

Detailed Description

Configurables available to a slot.

Constructor & Destructor Documentation

SlotConfiguration()

ctre::phoenix::motorcontrol::can::SlotConfiguration::SlotConfiguration ( )

inline

Member Function Documentation

toString() [1/2]

std::string ctre::phoenix::motorcontrol::can::SlotConfiguration::toString ( )

inline

Returns

String representation of configs

toString() [2/2]

std::string ctre::phoenix::motorcontrol::can::SlotConfiguration::toString ( std::string  prependString )

inline

Parameters

prependString

String to prepend to configs

Returns

String representation of configs

Member Data Documentation

allowableClosedloopError

double ctre::phoenix::motorcontrol::can::SlotConfiguration::allowableClosedloopError

Allowable closed loop error to neutral (in native units)

closedLoopPeakOutput

double ctre::phoenix::motorcontrol::can::SlotConfiguration::closedLoopPeakOutput

Peak output from closed loop [0,1].

closedLoopPeriod

int ctre::phoenix::motorcontrol::can::SlotConfiguration::closedLoopPeriod

Desired period of closed loop [1,64]ms.

integralZone

double ctre::phoenix::motorcontrol::can::SlotConfiguration::integralZone

Integral zone (in native units)

If the (absolute) closed-loop error is outside of this zone, integral accumulator is automatically cleared. This ensures than integral wind up events will stop after the sensor gets far enough from its target.

kD

double ctre::phoenix::motorcontrol::can::SlotConfiguration::kD

D Gain.

This is multiplied by derivative error (sensor units per PID loop, typically 1ms). Note the closed loop output interprets a final value of 1023 as full output. So use a gain of '250' to get full output if derr is 4096u (Mag Encoder 1 rotation) per 1000 loops (typ 1 sec)

kF

double ctre::phoenix::motorcontrol::can::SlotConfiguration::kF

F Gain.

See documentation for calculation details. If using velocity, motion magic, or motion profile, use (1023 * duty-cycle / sensor-velocity-sensor-units-per-100ms).

kI

double ctre::phoenix::motorcontrol::can::SlotConfiguration::kI

I Gain.

This is multiplied by accumulated closed loop error in sensor units every PID Loop. Note the closed loop output interprets a final value of 1023 as full output. So use a gain of '0.00025' to get full output if err is 4096u for 1000 loops (accumulater holds 4,096,000), [which is equivalent to one CTRE mag encoder rotation for 1000 milliseconds].

kP

double ctre::phoenix::motorcontrol::can::SlotConfiguration::kP

P Gain.

This is multiplied by closed loop error in sensor units. Note the closed loop output interprets a final value of 1023 as full output. So use a gain of '0.25' to get full output if err is 4096u (Mag Encoder 1 rotation)

maxIntegralAccumulator

double ctre::phoenix::motorcontrol::can::SlotConfiguration::maxIntegralAccumulator

Max integral accumulator (in native units)

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The documentation for this struct was generated from the following file:

• ctre/phoenix/motorcontrol/can/BaseMotorController.h