001/* Copyright (C) Cross The Road Electronics 2024 */ 002package com.ctre.phoenix.motorcontrol; 003 004/** 005 * Choose the demand type for the 4 param set 006 */ 007public enum DemandType { 008 /** 009 * Ignore the demand value and apply neutral/no-change. 010 */ 011 Neutral(0), 012 /** 013 * When closed-looping, set the target of the aux PID loop to the demand value. 014 * 015 * When following, follow the processed output of the combined 016 * primary/aux PID output of the master. The demand value is ignored. 017 * Although it is much cleaner to use the 2-param Follow() in such cases. 018 */ 019 AuxPID(1), //!< Target value of PID loop 1. When f 020 /** 021 * When closed-looping, add demand arbitrarily to the closed-loop output. 022 */ 023 ArbitraryFeedForward(2); //!< Simply add to the output 024 025 /** 026 * Value of DemandType 027 */ 028 public int value; 029 030 /** 031 * Create DemandType of specified value 032 * @param value Value of DemandType 033 */ 034 DemandType(int value) 035 { 036 this.value = value; 037 } 038};