CTRE Phoenix 6 C++ 26.50.0-alpha-1
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ctre::phoenix6::configs::DifferentialConstantsConfigs Class Reference

Configs related to constants used for differential control of a mechanism. More...

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

Inheritance diagram for ctre::phoenix6::configs::DifferentialConstantsConfigs:
ctre::phoenix6::configs::ParentConfiguration ctre::phoenix6::ISerializable

Public Member Functions

constexpr DifferentialConstantsConfigs ()=default
constexpr DifferentialConstantsConfigs & WithPeakDifferentialDutyCycle (wpi::units::scalar_t newPeakDifferentialDutyCycle)
 Modifies this configuration's PeakDifferentialDutyCycle parameter and returns itself for method-chaining and easier to use config API.
constexpr DifferentialConstantsConfigs & WithPeakDifferentialVoltage (wpi::units::volt_t newPeakDifferentialVoltage)
 Modifies this configuration's PeakDifferentialVoltage parameter and returns itself for method-chaining and easier to use config API.
constexpr DifferentialConstantsConfigs & WithPeakDifferentialTorqueCurrent (wpi::units::ampere_t newPeakDifferentialTorqueCurrent)
 Modifies this configuration's PeakDifferentialTorqueCurrent parameter and returns itself for method-chaining and easier to use config API.
std::string ToString () const override
std::string Serialize () const final
ctre::phoenix::StatusCode Deserialize (std::string const &to_deserialize) final

Public Attributes

wpi::units::scalar_t PeakDifferentialDutyCycle = 1.0
 Maximum differential output during duty cycle based differential control modes.
wpi::units::volt_t PeakDifferentialVoltage = 16_V
 Maximum differential output during voltage based differential control modes.
wpi::units::ampere_t PeakDifferentialTorqueCurrent = 800_A
 Maximum differential output during torque current based differential control modes.

Detailed Description

Configs related to constants used for differential control of a mechanism.

Includes the differential peak outputs.

Constructor & Destructor Documentation

◆ DifferentialConstantsConfigs()

ctre::phoenix6::configs::DifferentialConstantsConfigs::DifferentialConstantsConfigs ( )
constexprdefault

Member Function Documentation

◆ Deserialize()

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

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

◆ Serialize()

std::string ctre::phoenix6::configs::DifferentialConstantsConfigs::Serialize ( ) const
finalvirtual

Implements ctre::phoenix6::ISerializable.

◆ ToString()

std::string ctre::phoenix6::configs::DifferentialConstantsConfigs::ToString ( ) const
overridevirtual

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

◆ WithPeakDifferentialDutyCycle()

DifferentialConstantsConfigs & ctre::phoenix6::configs::DifferentialConstantsConfigs::WithPeakDifferentialDutyCycle ( wpi::units::scalar_t newPeakDifferentialDutyCycle)
inlineconstexpr

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

Maximum differential output during duty cycle based differential control modes.

  • Minimum Value: 0.0
  • Maximum Value: 1.0
  • Default Value: 1.0
  • Units: fractional
Parameters
newPeakDifferentialDutyCycleParameter to modify
Returns
Itself

◆ WithPeakDifferentialTorqueCurrent()

DifferentialConstantsConfigs & ctre::phoenix6::configs::DifferentialConstantsConfigs::WithPeakDifferentialTorqueCurrent ( wpi::units::ampere_t newPeakDifferentialTorqueCurrent)
inlineconstexpr

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

Maximum differential output during torque current based differential control modes.

  • Minimum Value: 0.0
  • Maximum Value: 800
  • Default Value: 800
  • Units: A
Parameters
newPeakDifferentialTorqueCurrentParameter to modify
Returns
Itself

◆ WithPeakDifferentialVoltage()

DifferentialConstantsConfigs & ctre::phoenix6::configs::DifferentialConstantsConfigs::WithPeakDifferentialVoltage ( wpi::units::volt_t newPeakDifferentialVoltage)
inlineconstexpr

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

Maximum differential output during voltage based differential control modes.

  • Minimum Value: 0.0
  • Maximum Value: 32
  • Default Value: 16
  • Units: V
Parameters
newPeakDifferentialVoltageParameter to modify
Returns
Itself

Member Data Documentation

◆ PeakDifferentialDutyCycle

wpi::units::scalar_t ctre::phoenix6::configs::DifferentialConstantsConfigs::PeakDifferentialDutyCycle = 1.0

Maximum differential output during duty cycle based differential control modes.

  • Minimum Value: 0.0
  • Maximum Value: 1.0
  • Default Value: 1.0
  • Units: fractional

◆ PeakDifferentialTorqueCurrent

wpi::units::ampere_t ctre::phoenix6::configs::DifferentialConstantsConfigs::PeakDifferentialTorqueCurrent = 800_A

Maximum differential output during torque current based differential control modes.

  • Minimum Value: 0.0
  • Maximum Value: 800
  • Default Value: 800
  • Units: A

◆ PeakDifferentialVoltage

wpi::units::volt_t ctre::phoenix6::configs::DifferentialConstantsConfigs::PeakDifferentialVoltage = 16_V

Maximum differential output during voltage based differential control modes.

  • Minimum Value: 0.0
  • Maximum Value: 32
  • Default Value: 16
  • Units: V
The documentation for this class was generated from the following file: