Package com.ctre.phoenix6.configs

Class Slot2Configs

java.lang.Object

com.ctre.phoenix6.configs.Slot2Configs

All Implemented Interfaces:

ParentConfiguration, ISerializable

public class Slot2Configs
extends Object
implements ParentConfiguration

What the gains for slot 2 are

If this slot is selected, these gains are used in closed loop control requests.

Field Summary

Fields

Modifier and Type	Field	Description
double	kD	Derivative Gain
double	kI	Integral Gain
double	kP	Proportional Gain
double	kS	Static Constant
double	kV	Velocity Feed Forward Gain

Constructor Summary

Constructors

Constructor	Description
Slot2Configs()

Method Summary

Modifier and Type	Method	Description
StatusCode	deserialize(String string)
String	serialize()
String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

kP

public double kP

Proportional Gain

The units for this gain is dependent on the control mode. Since this gain is multiplied by error in the input, the units should be defined as units of output per unit of input error. For example, when controlling velocity using a duty cycle closed loop, the units for the proportional gain will be duty cycle per rps, or 1/rps.

• Minimum Value: 0
• Maximum Value: 3.4e+38
• Default Value: 0
• Units:

kI

public double kI

Integral Gain

The units for this gain is dependent on the control mode. Since this gain is multiplied by error in the input integrated over time (in units of seconds), the units should be defined as units of output per unit of integrated input error. For example, when controlling velocity using a duty cycle closed loop, integrating velocity over time results in rps * s = rotations. Therefore, the units for the integral gain will be duty cycle per rotation of accumulated error, or 1/rot.

• Minimum Value: 0
• Maximum Value: 3.4e+38
• Default Value: 0
• Units:

kD

public double kD

Derivative Gain

The units for this gain is dependent on the control mode. Since this gain is multiplied by the derivative of error in the input with respect to time (in units of seconds), the units should be defined as units of output per unit of the differentiated input error. For example, when controlling velocity using a duty cycle closed loop, the derivative of velocity with respect to time is rps/s, which is acceleration. Therefore, the units for the derivative gain will be duty cycle per unit of acceleration error, or 1/(rps/s).

• Minimum Value: 0
• Maximum Value: 3.4e+38
• Default Value: 0
• Units:

kV

public double kV

Velocity Feed Forward Gain

The units for this gain is dependent on the control mode. Since this gain is multiplied by the requested velocity, the units should be defined as units of output per unit of requested input velocity. For example, when controlling velocity using a duty cycle closed loop, the units for the velocity feed foward gain will be duty cycle per requested rps, or 1/rps.

• Minimum Value: 0
• Maximum Value: 3.4e+38
• Default Value: 0
• Units:

kS

public double kS

Static Constant

This is added to the closed loop output. The sign is determined by target velocity. The unit for this constant is dependent on the control mode, typically fractional duty cycle, voltage, or torque current.

• Minimum Value: -512
• Maximum Value: 511
• Default Value: 0
• Units:

Constructor Details

Slot2Configs

public Slot2Configs()

Method Details

toString

public String toString()

Overrides:

toString in class Object

deserialize

public StatusCode deserialize(String string)

Specified by:

deserialize in interface ParentConfiguration

serialize

public String serialize()

Specified by:

serialize in interface ISerializable