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ctre::phoenix::motorcontrol::can::VictorSPXConfiguration Struct Reference
Configurables available to VictorSPX. More...
#include <ctre/phoenix/motorcontrol/can/VictorSPX.h>
Inheritance diagram for ctre::phoenix::motorcontrol::can::VictorSPXConfiguration:
Public Member Functions | |
| VictorSPXConfiguration () | |
| std::string | toString () |
| std::string | toString (std::string prependString) |
 Public Member Functions inherited from ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration | |
| BaseMotorControllerConfiguration () | |
| std::string | toString () |
| std::string | toString (std::string prependString) |
| Public Member Functions inherited from ctre::phoenix::CustomParamConfiguration | |
| CustomParamConfiguration () | |
| std::string | toString () |
| std::string | toString (std::string prependString) |
Public Attributes | |
| VictorSPXPIDSetConfiguration | primaryPID |
| Primary PID configuration. | |
| VictorSPXPIDSetConfiguration | auxiliaryPID |
| Auxiliary PID configuration. | |
| RemoteLimitSwitchSource | forwardLimitSwitchSource |
| Forward Limit Switch Source. | |
| RemoteLimitSwitchSource | reverseLimitSwitchSource |
| Reverse Limit Switch Source. | |
| int | forwardLimitSwitchDeviceID |
| Forward limit switch device ID. | |
| int | reverseLimitSwitchDeviceID |
| Reverse limit switch device ID. | |
| LimitSwitchNormal | forwardLimitSwitchNormal |
| Forward limit switch normally open/closed. | |
| LimitSwitchNormal | reverseLimitSwitchNormal |
| Reverse limit switch normally open/closed. | |
| RemoteFeedbackDevice | sum0Term |
| Feedback Device for Sum 0 Term. | |
| RemoteFeedbackDevice | sum1Term |
| Feedback Device for Sum 1 Term. | |
| RemoteFeedbackDevice | diff0Term |
| Feedback Device for Diff 0 Term. | |
| RemoteFeedbackDevice | diff1Term |
| Feedback Device for Diff 1 Term. | |
| Public Attributes inherited from ctre::phoenix::motorcontrol::can::BaseMotorControllerConfiguration | |
| double | openloopRamp |
| Seconds to go from 0 to full in open loop. | |
| double | closedloopRamp |
| Seconds to go from 0 to full in closed loop. | |
| double | peakOutputForward |
| Peak output in forward direction [0,1]. | |
| double | peakOutputReverse |
| Peak output in reverse direction [-1,0]. | |
| double | nominalOutputForward |
| Nominal/Minimum output in forward direction [0,1]. | |
| double | nominalOutputReverse |
| Nominal/Minimum output in reverse direction [-1,0]. | |
| double | neutralDeadband |
| Neutral deadband [0.001, 0.25]. | |
| double | voltageCompSaturation |
| This is the max voltage to apply to the hbridge when voltage compensation is enabled. | |
| int | voltageMeasurementFilter |
| Number of samples in rolling average for voltage. | |
| ctre::phoenix::sensors::SensorVelocityMeasPeriod | velocityMeasurementPeriod |
| Desired period for velocity measurement. | |
| int | velocityMeasurementWindow |
| Desired window for velocity measurement. | |
| double | forwardSoftLimitThreshold |
| Threshold for soft limits in forward direction (in raw sensor units) | |
| double | reverseSoftLimitThreshold |
| Threshold for soft limits in reverse direction (in raw sensor units) | |
| bool | forwardSoftLimitEnable |
| Enable forward soft limit. | |
| bool | reverseSoftLimitEnable |
| Enable reverse soft limit. | |
| SlotConfiguration | slot0 |
| Configuration for slot 0. | |
| SlotConfiguration | slot1 |
| Configuration for slot 1. | |
| SlotConfiguration | slot2 |
| Configuration for slot 2. | |
| SlotConfiguration | slot3 |
| Configuration for slot 3. | |
| bool | auxPIDPolarity |
| PID polarity inversion. | |
| FilterConfiguration | remoteFilter0 |
| Configuration for RemoteFilter 0. | |
| FilterConfiguration | remoteFilter1 |
| Configuration for RemoteFilter 1. | |
| double | motionCruiseVelocity |
| Motion Magic cruise velocity in raw sensor units per 100 ms. | |
| double | motionAcceleration |
| Motion Magic acceleration in (raw sensor units per 100 ms) per second. | |
| int | motionCurveStrength |
| Zero to use trapezoidal motion during motion magic. | |
| int | motionProfileTrajectoryPeriod |
| Motion profile base trajectory period in milliseconds. | |
| bool | feedbackNotContinuous |
| Determine whether feedback sensor is continuous or not. | |
| bool | remoteSensorClosedLoopDisableNeutralOnLOS |
| Disable neutral'ing the motor when remote sensor is lost on CAN bus. | |
| bool | clearPositionOnLimitF |
| Clear the position on forward limit. | |
| bool | clearPositionOnLimitR |
| Clear the position on reverse limit. | |
| bool | clearPositionOnQuadIdx |
| Clear the position on index. | |
| bool | limitSwitchDisableNeutralOnLOS |
| Disable neutral'ing the motor when remote limit switch is lost on CAN bus. | |
| bool | softLimitDisableNeutralOnLOS |
| Disable neutral'ing the motor when remote soft limit is lost on CAN bus. | |
| int | pulseWidthPeriod_EdgesPerRot |
| Number of edges per rotation for a tachometer sensor. | |
| int | pulseWidthPeriod_FilterWindowSz |
| Desired window size for a tachometer sensor. | |
| bool | trajectoryInterpolationEnable |
| Enable motion profile trajectory point interpolation (defaults to true). | |
| Public Attributes inherited from ctre::phoenix::CustomParamConfiguration | |
| int | customParam0 |
| Custom Param 0. | |
| int | customParam1 |
| Custom Param 1. | |
| bool | enableOptimizations |
| Enable optimizations for ConfigAll (defaults true) | |
Detailed Description
Configurables available to VictorSPX.
Constructor & Destructor Documentation
◆ VictorSPXConfiguration()
|
inline |
Member Function Documentation
◆ toString() [1/2]
|
inline |
- Returns
- String representation of all the configs
◆ toString() [2/2]
|
inline |
- Parameters
-
prependString String to prepend to all the configs
- Returns
- String representation of all the configs
Member Data Documentation
◆ auxiliaryPID
| VictorSPXPIDSetConfiguration ctre::phoenix::motorcontrol::can::VictorSPXConfiguration::auxiliaryPID |
Auxiliary PID configuration.
◆ diff0Term
| RemoteFeedbackDevice ctre::phoenix::motorcontrol::can::VictorSPXConfiguration::diff0Term |
Feedback Device for Diff 0 Term.
◆ diff1Term
| RemoteFeedbackDevice ctre::phoenix::motorcontrol::can::VictorSPXConfiguration::diff1Term |
Feedback Device for Diff 1 Term.
◆ forwardLimitSwitchDeviceID
| int ctre::phoenix::motorcontrol::can::VictorSPXConfiguration::forwardLimitSwitchDeviceID |
Forward limit switch device ID.
Limit Switch device id isn't used unless device is a remote
◆ forwardLimitSwitchNormal
| LimitSwitchNormal ctre::phoenix::motorcontrol::can::VictorSPXConfiguration::forwardLimitSwitchNormal |
Forward limit switch normally open/closed.
◆ forwardLimitSwitchSource
| RemoteLimitSwitchSource ctre::phoenix::motorcontrol::can::VictorSPXConfiguration::forwardLimitSwitchSource |
Forward Limit Switch Source.
User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature
◆ primaryPID
| VictorSPXPIDSetConfiguration ctre::phoenix::motorcontrol::can::VictorSPXConfiguration::primaryPID |
Primary PID configuration.
◆ reverseLimitSwitchDeviceID
| int ctre::phoenix::motorcontrol::can::VictorSPXConfiguration::reverseLimitSwitchDeviceID |
Reverse limit switch device ID.
Limit Switch device id isn't used unless device is a remote
◆ reverseLimitSwitchNormal
| LimitSwitchNormal ctre::phoenix::motorcontrol::can::VictorSPXConfiguration::reverseLimitSwitchNormal |
Reverse limit switch normally open/closed.
◆ reverseLimitSwitchSource
| RemoteLimitSwitchSource ctre::phoenix::motorcontrol::can::VictorSPXConfiguration::reverseLimitSwitchSource |
Reverse Limit Switch Source.
User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature
◆ sum0Term
| RemoteFeedbackDevice ctre::phoenix::motorcontrol::can::VictorSPXConfiguration::sum0Term |
Feedback Device for Sum 0 Term.
◆ sum1Term
| RemoteFeedbackDevice ctre::phoenix::motorcontrol::can::VictorSPXConfiguration::sum1Term |
Feedback Device for Sum 1 Term.
The documentation for this struct was generated from the following file:
- ctre/phoenix/motorcontrol/can/VictorSPX.h
