Package com.ctre.phoenixpro.configs

Class Slot2Configs

java.lang.Object
com.ctre.phoenixpro.configs.Slot2Configs
All Implemented Interfaces:
ParentConfiguration, ISerializable
@Deprecated(forRemoval=true)
public class Slot2Configs
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.
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
    Deprecated, for removal: This API element is subject to removal in a future version.
    Derivative Gain
    double kI
    Deprecated, for removal: This API element is subject to removal in a future version.
    Integral Gain
    double kP
    Deprecated, for removal: This API element is subject to removal in a future version.
    Proportional Gain
    double kS
    Deprecated, for removal: This API element is subject to removal in a future version.
    Static Constant
    double kV
    Deprecated, for removal: This API element is subject to removal in a future version.
    Velocity Feed Forward Gain

  • Constructor Summary

    Constructors 
    Constructor Description
    Slot2Configs()
    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

    • kP

      public double kP
      Deprecated, for removal: This API element is subject to removal in a future version.
      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
      Deprecated, for removal: This API element is subject to removal in a future version.
      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
      Deprecated, for removal: This API element is subject to removal in a future version.
      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
      Deprecated, for removal: This API element is subject to removal in a future version.
      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
      Deprecated, for removal: This API element is subject to removal in a future version.
      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()
      Deprecated, for removal: This API element is subject to removal in a future version.

  • Method Details