CTRE Phoenix 6 C++ 23.10.0-alpha-8
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Configs that change how the motor controller behaves under different limit switch statse. More...
#include <ctre/phoenix6/configs/Configs.hpp>
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... | |
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.
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inlineoverridevirtual |
Implements ctre::phoenix6::configs::ParentConfiguration.
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inlineoverridevirtual |
Implements ctre::phoenix6::ISerializable.
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inlineoverridevirtual |
Implements ctre::phoenix6::configs::ParentConfiguration.
bool ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ForwardLimitAutosetPositionEnable = false |
If enabled, the position is auto-set to a specific value, specified by ForwardLimitAutosetPositionValue.
Default Value: False
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
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
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:
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.
signals::ForwardLimitTypeValue ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ForwardLimitType = signals::ForwardLimitTypeValue::NormallyOpen |
Determines if limit is normally-open (default) or normally-closed.
bool ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ReverseLimitAutosetPositionEnable = false |
If enabled, the position is auto-set to a specific value, specified by ReverseLimitAutosetPositionValue.
Default Value: False
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
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
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:
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.
signals::ReverseLimitTypeValue ctre::phoenix6::configs::HardwareLimitSwitchConfigs::ReverseLimitType = signals::ReverseLimitTypeValue::NormallyOpen |
Determines if limit is normally-open (default) or normally-closed.