Package com.ctre.phoenix.motorcontrol

Enum ControlMode

java.lang.Object

java.lang.Enum<ControlMode>

com.ctre.phoenix.motorcontrol.ControlMode

All Implemented Interfaces:

Serializable, Comparable<ControlMode>, java.lang.constant.Constable

public enum ControlMode
extends Enum<ControlMode>

Choose the control mode for a motor controller. Consult product-specific documentation to determine what is available/supported for your device.

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Enum

Enum.EnumDesc<E extends Enum<E>>

Enum Constant Summary

Enum Constants

Enum Constant	Description
Current	Input current closed loop
Disabled	Disable Motor Controller
Follower	Follow other motor controller
MotionMagic	Motion Magic
MotionProfile	Motion Profile
MotionProfileArc	Motion Profile with auxiliary output
MusicTone	Plays a single tone.
PercentOutput	Percent output [-1,1]
Position	Position closed loop
Velocity	Velocity closed loop

Field Summary

Fields

Modifier and Type	Field	Description
int	value	Value of control mode

Method Summary

Modifier and Type	Method	Description
static ControlMode	valueOf(String name)	Returns the enum constant of this type with the specified name.
static ControlMode[]	values()	Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

PercentOutput

public static final ControlMode PercentOutput

Percent output [-1,1]

Position

public static final ControlMode Position

Position closed loop

Velocity

public static final ControlMode Velocity

Velocity closed loop

Current

public static final ControlMode Current

Input current closed loop

Follower

public static final ControlMode Follower

Follow other motor controller

MotionProfile

public static final ControlMode MotionProfile

Motion Profile

MotionMagic

public static final ControlMode MotionMagic

Motion Magic

MotionProfileArc

public static final ControlMode MotionProfileArc

Motion Profile with auxiliary output

MusicTone

public static final ControlMode MusicTone

Plays a single tone. Frequency (hz) is passed into set.

Disabled

public static final ControlMode Disabled

Disable Motor Controller

Field Details

value

public final int value

Value of control mode

Method Details

values

public static ControlMode[] values()

Returns an array containing the constants of this enum type, in the order they are declared.

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static ControlMode valueOf(String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum type has no constant with the specified name

NullPointerException - if the argument is null