001/* Copyright (C) Cross The Road Electronics 2024 */ 002package com.ctre.phoenix.motorcontrol.can; 003 004import com.ctre.phoenix.motorcontrol.FeedbackDevice; 005 006/** 007 * Util class to help with TalonSRX's PID configs 008 */ 009public class BaseTalonPIDSetConfigUtil { 010 private static BaseTalonPIDSetConfiguration _default = new BaseTalonPIDSetConfiguration(FeedbackDevice.QuadEncoder); 011 /* Default feedback sensor is product specific. In order to ensure user always gets what they expect when selecting feedback sensor, 012 (Sum/Diff)(0/1)TermDifferent will always return true */ 013 014 static boolean selectedFeedbackSensorDifferent (BaseTalonPIDSetConfiguration settings) { return true; } //{ return (!(settings.selectedFeedbackSensor == _default.selectedFeedbackSensor)); } 015 static boolean selectedFeedbackCoefficientDifferent (BaseTalonPIDSetConfiguration settings) { return (!(settings.selectedFeedbackCoefficient == _default.selectedFeedbackCoefficient)); } 016}