Class SlotConfiguration

java.lang.Object
com.ctre.phoenix.motorcontrol.can.SlotConfiguration

public class SlotConfiguration
extends Object
Configurables available to a slot
  • Field Summary

    Fields 
    Modifier and Type Field Description
    double allowableClosedloopError
    Allowable closed loop error to neutral (in native units)
    double closedLoopPeakOutput
    Peak output from closed loop [0,1]
    int closedLoopPeriod
    Desired period of closed loop [1,64]ms
    double integralZone
    Integral zone (in native units) If the (absolute) closed-loop error is outside of this zone, integral accumulator is automatically cleared.
    double kD
    D Gain This is multiplied by derivative error (sensor units per PID loop, typically 1ms).
    double kF
    F Gain See documentation for calculation details.
    double kI
    I Gain This is multiplied by accumulated closed loop error in sensor units every PID Loop.
    double kP
    P Gain This is multiplied by closed loop error in sensor units.
    double maxIntegralAccumulator
    Max integral accumulator (in native units)
  • Constructor Summary

    Constructors 
    Constructor Description
    SlotConfiguration()  
  • 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

    • kP

      public double 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)
    • kI

      public double 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].
    • kD

      public double 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

      public double 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).
    • integralZone

      public double 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.
    • allowableClosedloopError

      public double allowableClosedloopError
      Allowable closed loop error to neutral (in native units)
    • maxIntegralAccumulator

      public double maxIntegralAccumulator
      Max integral accumulator (in native units)
    • closedLoopPeakOutput

      public double closedLoopPeakOutput
      Peak output from closed loop [0,1]
    • closedLoopPeriod

      public int closedLoopPeriod
      Desired period of closed loop [1,64]ms
  • Constructor Details

  • Method Details