ctre::phoenix6::configs::HardwareLimitSwitchConfigs Class Reference

Configs that change how the motor controller behaves under different limit switch statse. More...

#include <ctre/phoenix6/configs/Configs.hpp>

Inheritance diagram for ctre::phoenix6::configs::HardwareLimitSwitchConfigs:

Public Member Functions
std::string	ToString () const override
std::string	Serialize () const override
ctre::phoenix::StatusCode	Deserialize (const std::string &to_deserialize) override
virtual std::string	ToString () const =0
virtual ctre::phoenix::StatusCode	Deserialize (const std::string &string)=0
virtual std::string	Serialize () const =0

Public Attributes
signals::ForwardLimitTypeValue	ForwardLimitType = signals::ForwardLimitTypeValue::NormallyOpen
	Determines if limit is normally-open (default) or normally-closed. More...
bool	ForwardLimitAutosetPositionEnable = false
	If enabled, the position is auto-set to a specific value, specified by ForwardLimitAutosetPositionValue. More...
double	ForwardLimitAutosetPositionValue = 0
	The value to auto-set the position to. More...
bool	ForwardLimitEnable = true
	If enabled, motor output is set to neutral when forward limit switch is asseted and positive output is requested. More...
signals::ForwardLimitSourceValue	ForwardLimitSource = signals::ForwardLimitSourceValue::LimitSwitchPin
	Determines where to poll the forward limit switch. More...
int	ForwardLimitRemoteSensorID = 0
	Device ID of the device if using remote limit switch features. More...
signals::ReverseLimitTypeValue	ReverseLimitType = signals::ReverseLimitTypeValue::NormallyOpen
	Determines if limit is normally-open (default) or normally-closed. More...
bool	ReverseLimitAutosetPositionEnable = false
	If enabled, the position is auto-set to a specific value, specified by ReverseLimitAutosetPositionValue. More...
double	ReverseLimitAutosetPositionValue = 0
	The value to auto-set the position to. More...
bool	ReverseLimitEnable = true
	If enabled, motor output is set to neutral when reverse limit switch is asseted and positive output is requested. More...
signals::ReverseLimitSourceValue	ReverseLimitSource = signals::ReverseLimitSourceValue::LimitSwitchPin
	Determines where to poll the reverse limit switch. More...
int	ReverseLimitRemoteSensorID = 0
	Device ID of the device if using remote limit switch features. More...

Detailed Description

Configs that change how the motor controller behaves under different limit switch statse.

Includes configs such as enabling limit switches, configuring the remote sensor ID, the source, and the position to set on limit.

Member Function Documentation

Deserialize()

ctre::phoenix::StatusCode ctre::phoenix6::configs::HardwareLimitSwitchConfigs::Deserialize ( const std::string &  to_deserialize )

inlineoverridevirtual

Implements ctre::phoenix6::configs::ParentConfiguration.

Serialize()

std::string ctre::phoenix6::configs::HardwareLimitSwitchConfigs::Serialize ( ) const

inlineoverridevirtual

Implements ctre::phoenix6::ISerializable.

ToString()

std::string ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ToString ( ) const

inlineoverridevirtual

Implements ctre::phoenix6::configs::ParentConfiguration.

Member Data Documentation

ForwardLimitAutosetPositionEnable

bool ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ForwardLimitAutosetPositionEnable = false

If enabled, the position is auto-set to a specific value, specified by ForwardLimitAutosetPositionValue.

Default Value: False

ForwardLimitAutosetPositionValue

double ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ForwardLimitAutosetPositionValue = 0

The value to auto-set the position to.

This has no effect if ForwardLimitAutosetPositionEnable is false.

Minimum Value: -3.4e+38 Maximum Value: 3.4e+38 Default Value: 0 Units: rotations

ForwardLimitEnable

bool ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ForwardLimitEnable = true

If enabled, motor output is set to neutral when forward limit switch is asseted and positive output is requested.

Default Value: True

ForwardLimitRemoteSensorID

int ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ForwardLimitRemoteSensorID = 0

Device ID of the device if using remote limit switch features.

Minimum Value: 0 Maximum Value: 62 Default Value: 0 Units:

ForwardLimitSource

signals::ForwardLimitSourceValue ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ForwardLimitSource = signals::ForwardLimitSourceValue::LimitSwitchPin

Determines where to poll the forward limit switch.

This defaults to the limit switch pin on the limit switch connector.

ForwardLimitType

signals::ForwardLimitTypeValue ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ForwardLimitType = signals::ForwardLimitTypeValue::NormallyOpen

Determines if limit is normally-open (default) or normally-closed.

ReverseLimitAutosetPositionEnable

bool ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ReverseLimitAutosetPositionEnable = false

If enabled, the position is auto-set to a specific value, specified by ReverseLimitAutosetPositionValue.

Default Value: False

ReverseLimitAutosetPositionValue

double ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ReverseLimitAutosetPositionValue = 0

The value to auto-set the position to.

This has no effect if ReverseLimitAutosetPositionEnable is false.

Minimum Value: -3.4e+38 Maximum Value: 3.4e+38 Default Value: 0 Units: rotations

ReverseLimitEnable

bool ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ReverseLimitEnable = true

If enabled, motor output is set to neutral when reverse limit switch is asseted and positive output is requested.

Default Value: True

ReverseLimitRemoteSensorID

int ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ReverseLimitRemoteSensorID = 0

Device ID of the device if using remote limit switch features.

Minimum Value: 0 Maximum Value: 62 Default Value: 0 Units:

ReverseLimitSource

signals::ReverseLimitSourceValue ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ReverseLimitSource = signals::ReverseLimitSourceValue::LimitSwitchPin

Determines where to poll the reverse limit switch.

This defaults to the limit switch pin on the limit switch connector.

ReverseLimitType

signals::ReverseLimitTypeValue ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ReverseLimitType = signals::ReverseLimitTypeValue::NormallyOpen

Determines if limit is normally-open (default) or normally-closed.

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The documentation for this class was generated from the following file:

• ctre/phoenix6/configs/Configs.hpp