Package com.ctre.phoenixpro.configs

Class ClosedLoopGeneralConfigs

java.lang.Object
com.ctre.phoenixpro.configs.ClosedLoopGeneralConfigs
All Implemented Interfaces:
ParentConfiguration, ISerializable
@Deprecated(forRemoval=true)
public class ClosedLoopGeneralConfigs
extends Object
implements ParentConfiguration
Deprecated, for removal: This API element is subject to removal in a future version.
Classes in the phoenixpro package will be removed in 2024. Users should instead use classes from the phoenix6 package.
Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features.

  • Field Summary

    Fields 
    Modifier and Type Field Description
    boolean ContinuousWrap
    Deprecated, for removal: This API element is subject to removal in a future version.
    Wrap position error within [-0.5,+0.5) mechanism rotations.

  • Constructor Summary

    Constructors 
    Constructor Description
    ClosedLoopGeneralConfigs()
    Deprecated, for removal: This API element is subject to removal in a future version.
     

  • Method Summary

    Modifier and Type Method Description
    StatusCode deserialize​(String string)
    Deprecated, for removal: This API element is subject to removal in a future version.
     
    String serialize()
    Deprecated, for removal: This API element is subject to removal in a future version.
     
    String toString()
    Deprecated, for removal: This API element is subject to removal in a future version.
     

    Methods inherited from class java.lang.Object

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

  • Field Details

    • ContinuousWrap

      public boolean ContinuousWrap
      Deprecated, for removal: This API element is subject to removal in a future version.
      Wrap position error within [-0.5,+0.5) mechanism rotations. Typically used for continuous position closed-loops like swerve azimuth.

      This uses the mechanism rotation value. If there is a gear ratio between the sensor and the mechanism, make sure to apply a SensorToMechanismRatio so the closed loop operates on the full rotation.

      • Default Value: False

  • Constructor Details

  • Method Details