001/* Copyright (C) Cross The Road Electronics 2024 */ 002package com.ctre.phoenix; 003 004/** 005 * All the params available to Phoenix 006 */ 007public enum ParamEnum 008 { 009 eOnBoot_BrakeMode ( 31), 010 eQuadFilterEn ( 91), 011 eQuadIdxPolarity(108), 012 eMotionProfileHasUnderrunErr (119), 013 eMotionProfileTrajectoryPointDurationMs (120), //motionProfileTrajectoryPeriod 014 015 eStatusFramePeriod(300), 016 eOpenloopRamp(301), 017 eClosedloopRamp(302), 018 eNeutralDeadband(303), 019 020 ePeakPosOutput(305), 021 eNominalPosOutput(306), 022 ePeakNegOutput(307), 023 eNominalNegOutput(308), 024 025 eProfileParamSlot_P(310), 026 eProfileParamSlot_I(311), 027 eProfileParamSlot_D(312), 028 eProfileParamSlot_F(313), 029 eProfileParamSlot_IZone(314), 030 eProfileParamSlot_AllowableErr(315), 031 eProfileParamSlot_MaxIAccum(316), 032 eProfileParamSlot_PeakOutput(317), 033 034 eClearPositionOnLimitF(320), 035 eClearPositionOnLimitR(321), 036 eClearPositionOnQuadIdx(322), 037 038 eSampleVelocityPeriod(325), 039 eSampleVelocityWindow(326), 040 041 eFeedbackSensorType(330), 042 eSelectedSensorPosition(331), 043 eFeedbackNotContinuous (332), 044 eRemoteSensorSource (333), // RemoteSensorSource_t 045 eRemoteSensorDeviceID (334), // [0,62] DeviceID 046 eSensorTerm (335), // feedbackDevice_t (ordinal is the register) 047 eRemoteSensorClosedLoopDisableNeutralOnLOS (336), 048 ePIDLoopPolarity(337), 049 ePIDLoopPeriod(338), 050 eSelectedSensorCoefficient(339), 051 052 eForwardSoftLimitThreshold(340), 053 eReverseSoftLimitThreshold(341), 054 eForwardSoftLimitEnable(342), 055 eReverseSoftLimitEnable(343), 056 057 eNominalBatteryVoltage(350), 058 eBatteryVoltageFilterSize(351), 059 060 eContinuousCurrentLimitAmps(360), 061 ePeakCurrentLimitMs(361), 062 ePeakCurrentLimitAmps(362), 063 064 eClosedLoopIAccum(370), 065 066 eCustomParam(380), 067 068 eStickyFaults(390), 069 070 eAnalogPosition(400), 071 eQuadraturePosition(401), 072 ePulseWidthPosition(402), 073 074 eMotMag_Accel(410), 075 eMotMag_VelCruise(411), 076 eMotMag_SCurveLevel(412), 077 078 eLimitSwitchSource (421), // ordinal (fwd=0,reverse=1), @see LimitSwitchSource_t 079 eLimitSwitchNormClosedAndDis ( 422), // ordinal (fwd=0,reverse=1). @see LimitSwitchNormClosedAndDis_t 080 eLimitSwitchDisableNeutralOnLOS ( 423), 081 eLimitSwitchRemoteDevID ( 424), 082 eSoftLimitDisableNeutralOnLOS(425), 083 084 ePulseWidthPeriod_EdgesPerRot(430), 085 ePulseWidthPeriod_FilterWindowSz(431), 086 087 eYawOffset(160), 088 eCompassOffset(161), 089 eBetaGain(162), 090 eEnableCompassFusion(163), 091 eGyroNoMotionCal ( 164), 092 eEnterCalibration ( 165), 093 eFusedHeadingOffset ( 166), 094 eStatusFrameRate ( 169), 095 eAccumZ ( 170), 096 eTempCompDisable ( 171), 097 eMotionMeas_tap_threshX ( 172), 098 eMotionMeas_tap_threshY ( 173), 099 eMotionMeas_tap_threshZ ( 174), 100 eMotionMeas_tap_count ( 175), 101 eMotionMeas_tap_time ( 176), 102 eMotionMeas_tap_time_multi ( 177), 103 eMotionMeas_shake_reject_thresh ( 178), 104 eMotionMeas_shake_reject_time ( 179), 105 eMotionMeas_shake_reject_timeout ( 180), 106 107 eDefaultConfig(500), 108 109 /* CANCoder */ 110 eSensorInitStrategy(700), 111 eSensorDirection(701), 112 eMagnetOffset(702), 113 eSensorSync(703), 114 eAbsSensorRange(704), 115 116 /* Pigeon2 */ 117 eChangeCompassUse(800), 118 eRestartKalman(801), 119 eAccNoiseAmplificationGain(802), 120 eMagNoiseAmplificationGain(803), 121 eGyrNoiseAmplificationGain(804), 122 eMaxAccKg(805), 123 eMaxMagKg(806), 124 eGyroBias(807), 125 eAccelOffsets(808), 126 eMagCal(809), 127 eMagCalSlot(810), 128 eMagCalRunning(811), 129 eGyrResolution(812), 130 eAccelKalmanBiasGain(813), 131 eMagKalmanBiasGain(814), 132 eTempCalRunning(815), 133 eApplyTempCal(816), 134 eClearTempCal(817), 135 eDontRunThermComp(818), 136 eChangeHeatOutput(819), 137 eSetNoMotionCalDisable(820), 138 eClearMagCal(821), 139 eSetGyrSensitivity(822), 140 eSetVsenseScalar(823), 141 eConfigMountPoseYaw(824), 142 eConfigMountPosePitch(825), 143 eConfigMountPoseRoll(826), 144 eConfigAccelScalar(827), 145 eConfigGyroScalarX(828), 146 eConfigGyroScalarY(829), 147 eConfigGyroScalarZ(830), 148 eCustomParam0(831), 149 eCustomParam1(832), 150 151 /* CANdle */ 152 eLEDStripType(900), 153 eLossOfSignalBehavior(901), 154 eBrightnessCoefficient(902), 155 eStatusLedState(903), 156 eVBatOutput(904), 157 eV5Enabled(905); 158 159 public final int value; 160 ParamEnum(int initValue) 161 { 162 this.value = initValue; 163 } 164};