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]msdouble
integralZone
Integral zone (in native units) If the (absolute) closedloop 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

Field Details

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
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
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
F Gain See documentation for calculation details. If using velocity, motion magic, or motion profile, use (1023 * dutycycle / sensorvelocitysensorunitsper100ms). 
integralZone
Integral zone (in native units) If the (absolute) closedloop 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
Allowable closed loop error to neutral (in native units) 
maxIntegralAccumulator
Max integral accumulator (in native units) 
closedLoopPeakOutput
Peak output from closed loop [0,1] 
closedLoopPeriod
Desired period of closed loop [1,64]ms


Constructor Details

SlotConfiguration
public SlotConfiguration()


Method Details