Package com.ctre.phoenix.motorcontrol.can

Class BaseMotorControllerConfiguration

java.lang.Object

com.ctre.phoenix.CustomParamConfiguration

com.ctre.phoenix.motorcontrol.can.BaseMotorControllerConfiguration

Direct Known Subclasses:

BaseTalonConfiguration, VictorSPXConfiguration

public abstract class BaseMotorControllerConfiguration
extends CustomParamConfiguration

Configurables available to base motor controllers

Field Summary

Fields

Modifier and Type	Field	Description
boolean	auxPIDPolarity	PID polarity inversion Standard Polarity: Primary Output = PID0 + PID1, Auxiliary Output = PID0 - PID1, Inverted Polarity: Primary Output = PID0 - PID1, Auxiliary Output = PID0 + PID1,
boolean	clearPositionOnLimitF	Clear the position on forward limit
boolean	clearPositionOnLimitR	Clear the position on reverse limit
boolean	clearPositionOnQuadIdx	Clear the position on index
double	closedloopRamp	Seconds to go from 0 to full in closed loop
boolean	feedbackNotContinuous	Determine whether feedback sensor is continuous or not
boolean	forwardSoftLimitEnable	Enable forward soft limit
double	forwardSoftLimitThreshold	Threshold for soft limits in forward direction (in raw sensor units)
boolean	limitSwitchDisableNeutralOnLOS	Disable neutral'ing the motor when remote limit switch is lost on CAN bus
double	motionAcceleration	Motion Magic acceleration in (raw sensor units per 100 ms) per second.
double	motionCruiseVelocity	Motion Magic cruise velocity in raw sensor units per 100 ms.
int	motionCurveStrength	Zero to use trapezoidal motion during motion magic.
int	motionProfileTrajectoryPeriod	Motion profile base trajectory period in milliseconds.
double	neutralDeadband	Neutral deadband [0.001, 0.25]
double	nominalOutputForward	Nominal/Minimum output in forward direction [0,1]
double	nominalOutputReverse	Nominal/Minimum output in reverse direction [-1,0]
double	openloopRamp	Seconds to go from 0 to full in open loop
double	peakOutputForward	Peak output in forward direction [0,1]
double	peakOutputReverse	Peak output in reverse direction [-1,0]
int	pulseWidthPeriod_EdgesPerRot	Number of edges per rotation for a tachometer sensor
int	pulseWidthPeriod_FilterWindowSz	Desired window size for a tachometer sensor
FilterConfiguration	remoteFilter0	Configuration for RemoteFilter 0
FilterConfiguration	remoteFilter1	Configuration for RemoteFilter 1
boolean	remoteSensorClosedLoopDisableNeutralOnLOS	Disable neutral'ing the motor when remote sensor is lost on CAN bus
boolean	reverseSoftLimitEnable	Enable reverse soft limit
double	reverseSoftLimitThreshold	Threshold for soft limits in reverse direction (in raw sensor units)
SlotConfiguration	slot0	Configuration for slot 0
SlotConfiguration	slot1	Configuration for slot 1
SlotConfiguration	slot2	Configuration for slot 2
SlotConfiguration	slot3	Configuration for slot 3
boolean	softLimitDisableNeutralOnLOS	Disable neutral'ing the motor when remote soft limit is lost on CAN bus
boolean	trajectoryInterpolationEnable	Enable motion profile trajectory point interpolation (defaults to true).
SensorVelocityMeasPeriod	velocityMeasurementPeriod	Desired period for velocity measurement
int	velocityMeasurementWindow	Desired window for velocity measurement
double	voltageCompSaturation	This is the max voltage to apply to the hbridge when voltage compensation is enabled.
int	voltageMeasurementFilter	Number of samples in rolling average for voltage

Fields inherited from class com.ctre.phoenix.CustomParamConfiguration

customParam0, customParam1, enableOptimizations

Constructor Summary

Constructors

Constructor	Description
BaseMotorControllerConfiguration()

Method Summary

Modifier and Type	Method	Description
String	toString()
String	toString(String prependString)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

openloopRamp

public double openloopRamp

Seconds to go from 0 to full in open loop

closedloopRamp

public double closedloopRamp

Seconds to go from 0 to full in closed loop

peakOutputForward

public double peakOutputForward

Peak output in forward direction [0,1]

peakOutputReverse

public double peakOutputReverse

Peak output in reverse direction [-1,0]

nominalOutputForward

public double nominalOutputForward

Nominal/Minimum output in forward direction [0,1]

nominalOutputReverse

public double nominalOutputReverse

Nominal/Minimum output in reverse direction [-1,0]

neutralDeadband

public double neutralDeadband

Neutral deadband [0.001, 0.25]

voltageCompSaturation

public double voltageCompSaturation

This is the max voltage to apply to the hbridge when voltage compensation is enabled. For example, if 10 (volts) is specified and a TalonSRX is commanded to 0.5 (PercentOutput, closed-loop, etc) then the TalonSRX will attempt to apply a duty-cycle to produce 5V.

voltageMeasurementFilter

public int voltageMeasurementFilter

Number of samples in rolling average for voltage

velocityMeasurementPeriod

public SensorVelocityMeasPeriod velocityMeasurementPeriod

Desired period for velocity measurement

velocityMeasurementWindow

public int velocityMeasurementWindow

Desired window for velocity measurement

forwardSoftLimitThreshold

public double forwardSoftLimitThreshold

Threshold for soft limits in forward direction (in raw sensor units)

reverseSoftLimitThreshold

public double reverseSoftLimitThreshold

Threshold for soft limits in reverse direction (in raw sensor units)

forwardSoftLimitEnable

public boolean forwardSoftLimitEnable

Enable forward soft limit

reverseSoftLimitEnable

public boolean reverseSoftLimitEnable

Enable reverse soft limit

slot0

public SlotConfiguration slot0

Configuration for slot 0

slot1

public SlotConfiguration slot1

Configuration for slot 1

slot2

public SlotConfiguration slot2

Configuration for slot 2

slot3

public SlotConfiguration slot3

Configuration for slot 3

auxPIDPolarity

public boolean auxPIDPolarity

PID polarity inversion Standard Polarity: Primary Output = PID0 + PID1, Auxiliary Output = PID0 - PID1, Inverted Polarity: Primary Output = PID0 - PID1, Auxiliary Output = PID0 + PID1,

remoteFilter0

public FilterConfiguration remoteFilter0

Configuration for RemoteFilter 0

remoteFilter1

public FilterConfiguration remoteFilter1

Configuration for RemoteFilter 1

motionCruiseVelocity

public double motionCruiseVelocity

Motion Magic cruise velocity in raw sensor units per 100 ms.

motionAcceleration

public double motionAcceleration

Motion Magic acceleration in (raw sensor units per 100 ms) per second.

motionCurveStrength

public int motionCurveStrength

Zero to use trapezoidal motion during motion magic. [1,8] for S-Curve, higher value for greater smoothing.

motionProfileTrajectoryPeriod

public int motionProfileTrajectoryPeriod

Motion profile base trajectory period in milliseconds. The period specified in a trajectory point will be added on to this value

feedbackNotContinuous

public boolean feedbackNotContinuous

Determine whether feedback sensor is continuous or not

remoteSensorClosedLoopDisableNeutralOnLOS

public boolean remoteSensorClosedLoopDisableNeutralOnLOS

Disable neutral'ing the motor when remote sensor is lost on CAN bus

clearPositionOnLimitF

public boolean clearPositionOnLimitF

Clear the position on forward limit

clearPositionOnLimitR

public boolean clearPositionOnLimitR

Clear the position on reverse limit

clearPositionOnQuadIdx

public boolean clearPositionOnQuadIdx

Clear the position on index

limitSwitchDisableNeutralOnLOS

public boolean limitSwitchDisableNeutralOnLOS

Disable neutral'ing the motor when remote limit switch is lost on CAN bus

softLimitDisableNeutralOnLOS

public boolean softLimitDisableNeutralOnLOS

Disable neutral'ing the motor when remote soft limit is lost on CAN bus

pulseWidthPeriod_EdgesPerRot

public int pulseWidthPeriod_EdgesPerRot

Number of edges per rotation for a tachometer sensor

pulseWidthPeriod_FilterWindowSz

public int pulseWidthPeriod_FilterWindowSz

Desired window size for a tachometer sensor

trajectoryInterpolationEnable

public boolean trajectoryInterpolationEnable

Enable motion profile trajectory point interpolation (defaults to true).

Constructor Details

BaseMotorControllerConfiguration

public BaseMotorControllerConfiguration()

Method Details

toString

public String toString()

Overrides:

toString in class CustomParamConfiguration

Returns:

String representation of configs

toString

public String toString(String prependString)

Overrides:

toString in class CustomParamConfiguration

Parameters:

prependString - String to prepend to configs

Returns:

String representation of configs