001/* 002 * Copyright (C) Cross The Road Electronics. All rights reserved. 003 * License information can be found in CTRE_LICENSE.txt 004 * For support and suggestions contact support@ctr-electronics.com or file 005 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases 006 */ 007package com.ctre.phoenixpro.configs; 008 009import com.ctre.phoenix6.StatusCode; 010import com.ctre.phoenix6.configs.jni.ConfigJNI; 011import com.ctre.phoenix6.spns.*; 012 013/** 014 * Configs that affect general behavior during closed-looping. 015 * <p> 016 * Includes Continuous Wrap features. 017 * 018 * @deprecated Classes in the phoenixpro package will be removed in 2024. 019 * Users should instead use classes from the phoenix6 package. 020 */ 021@Deprecated(forRemoval = true) 022public class ClosedLoopGeneralConfigs implements ParentConfiguration 023{ 024 /** 025 * Wrap position error within [-0.5,+0.5) mechanism rotations. 026 * Typically used for continuous position closed-loops like swerve 027 * azimuth. 028 * <p> 029 * This uses the mechanism rotation value. If there is a gear ratio 030 * between the sensor and the mechanism, make sure to apply a 031 * SensorToMechanismRatio so the closed loop operates on the full 032 * rotation. 033 * 034 * <ul> 035 * <li> <b>Default Value:</b> False 036 * </ul> 037 */ 038 public boolean ContinuousWrap = false; 039 040 @Override 041 public String toString() 042 { 043 String ss = "Config Group: ClosedLoopGeneral\n"; 044 ss += "Name: \"ContinuousWrap\" Value: \"" + ContinuousWrap + "\"" + "\n"; 045 return ss; 046 } 047 048 /** 049 * 050 */ 051 public StatusCode deserialize(String string) 052 { 053 ContinuousWrap = ConfigJNI.Deserializeboolean(SpnValue.Config_ContinuousWrap.value, string); 054 return StatusCode.OK; 055 } 056 057 /** 058 * 059 */ 060 public String serialize() 061 { 062 String ss = ""; 063 ss += ConfigJNI.Serializeboolean(1499, ContinuousWrap); 064 return ss; 065 } 066} 067