Package com.ctre.phoenix6.configs

Class ClosedLoopRampsConfigs

java.lang.Object

com.ctre.phoenix6.configs.ClosedLoopRampsConfigs

All Implemented Interfaces:

ParentConfiguration, ISerializable

public class ClosedLoopRampsConfigs
extends Object
implements ParentConfiguration

Configs that affect the closed-loop control of this motor controller.

Closed-loop ramp rates for the various control types.

Field Summary

Fields

Modifier and Type	Field	Description
double	DutyCycleClosedLoopRampPeriod	If non-zero, this determines how much time to ramp from 0% output to 100% during closed-loop modes.
double	TorqueClosedLoopRampPeriod	If non-zero, this determines how much time to ramp from 0A output to 300A during closed-loop modes.
double	VoltageClosedLoopRampPeriod	If non-zero, this determines how much time to ramp from 0V output to 12V during closed-loop modes.

Constructor Summary

Constructors

Constructor	Description
ClosedLoopRampsConfigs()

Method Summary

Modifier and Type	Method	Description
StatusCode	deserialize(String to_deserialize)
String	serialize()
String	toString()
ClosedLoopRampsConfigs	withDutyCycleClosedLoopRampPeriod(double newDutyCycleClosedLoopRampPeriod)	Modifies this configuration's DutyCycleClosedLoopRampPeriod parameter and returns itself for method-chaining and easier to use config API.
ClosedLoopRampsConfigs	withTorqueClosedLoopRampPeriod(double newTorqueClosedLoopRampPeriod)	Modifies this configuration's TorqueClosedLoopRampPeriod parameter and returns itself for method-chaining and easier to use config API.
ClosedLoopRampsConfigs	withVoltageClosedLoopRampPeriod(double newVoltageClosedLoopRampPeriod)	Modifies this configuration's VoltageClosedLoopRampPeriod parameter and returns itself for method-chaining and easier to use config API.

Methods inherited from class java.lang.Object

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

Field Details

DutyCycleClosedLoopRampPeriod

public double DutyCycleClosedLoopRampPeriod

If non-zero, this determines how much time to ramp from 0% output to 100% during closed-loop modes.

• Minimum Value: 0
• Maximum Value: 1
• Default Value: 0
• Units: sec

VoltageClosedLoopRampPeriod

public double VoltageClosedLoopRampPeriod

If non-zero, this determines how much time to ramp from 0V output to 12V during closed-loop modes.

• Minimum Value: 0
• Maximum Value: 1
• Default Value: 0
• Units: sec

TorqueClosedLoopRampPeriod

public double TorqueClosedLoopRampPeriod

If non-zero, this determines how much time to ramp from 0A output to 300A during closed-loop modes.

• Minimum Value: 0
• Maximum Value: 10
• Default Value: 0
• Units: sec

Constructor Details

ClosedLoopRampsConfigs

public ClosedLoopRampsConfigs()

Method Details

withDutyCycleClosedLoopRampPeriod

public ClosedLoopRampsConfigs withDutyCycleClosedLoopRampPeriod(double newDutyCycleClosedLoopRampPeriod)

Modifies this configuration's DutyCycleClosedLoopRampPeriod parameter and returns itself for method-chaining and easier to use config API.

If non-zero, this determines how much time to ramp from 0% output to 100% during closed-loop modes.

• Minimum Value: 0
• Maximum Value: 1
• Default Value: 0
• Units: sec

Parameters:

newDutyCycleClosedLoopRampPeriod - Parameter to modify

Returns:

Itself

withVoltageClosedLoopRampPeriod

public ClosedLoopRampsConfigs withVoltageClosedLoopRampPeriod(double newVoltageClosedLoopRampPeriod)

Modifies this configuration's VoltageClosedLoopRampPeriod parameter and returns itself for method-chaining and easier to use config API.

If non-zero, this determines how much time to ramp from 0V output to 12V during closed-loop modes.

• Minimum Value: 0
• Maximum Value: 1
• Default Value: 0
• Units: sec

Parameters:

newVoltageClosedLoopRampPeriod - Parameter to modify

Returns:

Itself

withTorqueClosedLoopRampPeriod

public ClosedLoopRampsConfigs withTorqueClosedLoopRampPeriod(double newTorqueClosedLoopRampPeriod)

Modifies this configuration's TorqueClosedLoopRampPeriod parameter and returns itself for method-chaining and easier to use config API.

If non-zero, this determines how much time to ramp from 0A output to 300A during closed-loop modes.

• Minimum Value: 0
• Maximum Value: 10
• Default Value: 0
• Units: sec

Parameters:

newTorqueClosedLoopRampPeriod - Parameter to modify

Returns:

Itself

toString

public String toString()

Overrides:

toString in class Object

deserialize

public StatusCode deserialize(String to_deserialize)

Specified by:

deserialize in interface ParentConfiguration

serialize

public String serialize()

Specified by:

serialize in interface ISerializable