Gains for the specified slot. More...

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

Inheritance diagram for ctre::phoenix6::configs::SlotConfigs:

Public Member Functions
constexpr	SlotConfigs ()=default

constexpr SlotConfigs &	WithKP (units::dimensionless::scalar_t newKP)
	Modifies this configuration's kP parameter and returns itself for method-chaining and easier to use config API.

constexpr SlotConfigs &	WithKI (units::dimensionless::scalar_t newKI)
	Modifies this configuration's kI parameter and returns itself for method-chaining and easier to use config API.

constexpr SlotConfigs &	WithKD (units::dimensionless::scalar_t newKD)
	Modifies this configuration's kD parameter and returns itself for method-chaining and easier to use config API.

constexpr SlotConfigs &	WithKS (units::dimensionless::scalar_t newKS)
	Modifies this configuration's kS parameter and returns itself for method-chaining and easier to use config API.

constexpr SlotConfigs &	WithKV (units::dimensionless::scalar_t newKV)
	Modifies this configuration's kV parameter and returns itself for method-chaining and easier to use config API.

constexpr SlotConfigs &	WithKA (units::dimensionless::scalar_t newKA)
	Modifies this configuration's kA parameter and returns itself for method-chaining and easier to use config API.

constexpr SlotConfigs &	WithKG (units::dimensionless::scalar_t newKG)
	Modifies this configuration's kG parameter and returns itself for method-chaining and easier to use config API.

constexpr SlotConfigs &	WithGravityType (signals::GravityTypeValue newGravityType)
	Modifies this configuration's GravityType parameter and returns itself for method-chaining and easier to use config API.

constexpr SlotConfigs &	WithStaticFeedforwardSign (signals::StaticFeedforwardSignValue newStaticFeedforwardSign)
	Modifies this configuration's StaticFeedforwardSign parameter and returns itself for method-chaining and easier to use config API.

constexpr SlotConfigs &	WithGravityArmPositionOffset (units::angle::turn_t newGravityArmPositionOffset)
	Modifies this configuration's GravityArmPositionOffset parameter and returns itself for method-chaining and easier to use config API.

constexpr SlotConfigs &	WithGainSchedBehavior (signals::GainSchedBehaviorValue newGainSchedBehavior)
	Modifies this configuration's GainSchedBehavior 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 Member Functions inherited from ctre::phoenix6::configs::ParentConfiguration
Public Member Functions inherited from ctre::phoenix6::ISerializable

Static Public Member Functions
static SlotConfigs	From (Slot0Configs const &value)
	Converts the provided value to an instance of this type.

static SlotConfigs	From (Slot1Configs const &value)
	Converts the provided value to an instance of this type.

static SlotConfigs	From (Slot2Configs const &value)
	Converts the provided value to an instance of this type.

Public Attributes
units::dimensionless::scalar_t	kP = 0
	Proportional gain.

units::dimensionless::scalar_t	kI = 0
	Integral gain.

units::dimensionless::scalar_t	kD = 0
	Derivative gain.

units::dimensionless::scalar_t	kS = 0
	Static feedforward gain.

units::dimensionless::scalar_t	kV = 0
	Velocity feedforward gain.

units::dimensionless::scalar_t	kA = 0
	Acceleration feedforward gain.

units::dimensionless::scalar_t	kG = 0
	Gravity feedforward/feedback gain.

signals::GravityTypeValue	GravityType = signals::GravityTypeValue::Elevator_Static
	Gravity feedforward/feedback type.

signals::StaticFeedforwardSignValue	StaticFeedforwardSign = signals::StaticFeedforwardSignValue::UseVelocitySign
	Static feedforward sign during position closed loop.

units::angle::turn_t	GravityArmPositionOffset = 0_tr
	Gravity feedback position offset when using the Arm/Cosine gravity type.

signals::GainSchedBehaviorValue	GainSchedBehavior = signals::GainSchedBehaviorValue::Inactive
	The behavior of the gain scheduler on this slot.

int	SlotNumber = 0
	Chooses which slot these configs are for.

Detailed Description

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Constructor & Destructor Documentation

◆ SlotConfigs()

ctre::phoenix6::configs::SlotConfigs::SlotConfigs ( )

constexprdefault

Member Function Documentation

◆ Deserialize()

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

finalvirtual

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

◆ From() [1/3]

static SlotConfigs ctre::phoenix6::configs::SlotConfigs::From ( Slot0Configs const & value )

static

Converts the provided value to an instance of this type.

Parameters

value The value to convert

Returns: Converted value

◆ From() [2/3]

static SlotConfigs ctre::phoenix6::configs::SlotConfigs::From ( Slot1Configs const & value )

static

Converts the provided value to an instance of this type.

Parameters

value The value to convert

Returns: Converted value

◆ From() [3/3]

static SlotConfigs ctre::phoenix6::configs::SlotConfigs::From ( Slot2Configs const & value )

static

Converts the provided value to an instance of this type.

Parameters

value The value to convert

Returns: Converted value

◆ Serialize()

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

finalvirtual

Implements ctre::phoenix6::ISerializable.

◆ ToString()

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

overridevirtual

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

◆ WithGainSchedBehavior()

SlotConfigs & ctre::phoenix6::configs::SlotConfigs::WithGainSchedBehavior ( signals::GainSchedBehaviorValue newGainSchedBehavior )

inlineconstexpr

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

The behavior of the gain scheduler on this slot. This specifies which gains to use while within the configured GainSchedErrorThreshold. The default is to continue using the specified slot.

Gain scheduling will not take effect when running velocity closed-loop controls.

Parameters

newGainSchedBehavior Parameter to modify

Returns: Itself

◆ WithGravityArmPositionOffset()

SlotConfigs & ctre::phoenix6::configs::SlotConfigs::WithGravityArmPositionOffset ( units::angle::turn_t newGravityArmPositionOffset )

inlineconstexpr

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

Gravity feedback position offset when using the Arm/Cosine gravity type.

This is an offset applied to the position of the arm, within (-0.25, 0.25) rot, before calculating the output of kG. This is useful when the center of gravity of the arm is offset from the actual zero point of the arm, such as when the arm and intake form an L shape.

Minimum Value: -0.25
Maximum Value: 0.25
Default Value: 0
Units: rotations

Parameters

newGravityArmPositionOffset Parameter to modify

Returns: Itself

◆ WithGravityType()

SlotConfigs & ctre::phoenix6::configs::SlotConfigs::WithGravityType ( signals::GravityTypeValue newGravityType )

inlineconstexpr

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

Gravity feedforward/feedback type.

This determines the type of the gravity feedforward/feedback.

Choose Elevator_Static for systems where the gravity feedforward is constant, such as an elevator. The gravity feedforward output will always have the same sign.

Choose Arm_Cosine for systems where the gravity feedback is dependent on the angular position of the mechanism, such as an arm. The gravity feedback output will vary depending on the mechanism angular position. Note that the sensor offset and ratios must be configured so that the sensor reports a position of 0 when the mechanism is horizonal (parallel to the ground), and the reported sensor position is 1:1 with the mechanism.

Parameters

newGravityType Parameter to modify

Returns: Itself

◆ WithKA()

SlotConfigs & ctre::phoenix6::configs::SlotConfigs::WithKA ( units::dimensionless::scalar_t newKA )

inlineconstexpr

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

Acceleration feedforward gain.

The units for this gain is dependent on the control mode. Since this gain is multiplied by the requested acceleration, the units should be defined as units of output per unit of requested input acceleration. For example, when controlling velocity using a duty cycle closed loop, the units for the acceleration feedfoward gain will be duty cycle per requested rot per sec², or 1/(rot per sec²).

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

Parameters

newKA Parameter to modify

Returns: Itself

◆ WithKD()

SlotConfigs & ctre::phoenix6::configs::SlotConfigs::WithKD ( units::dimensionless::scalar_t newKD )

inlineconstexpr

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

Derivative gain.

The units for this gain is dependent on the control mode. Since this gain is multiplied by the derivative of error in the input with respect to time (in units of seconds), the units should be defined as units of output per unit of the differentiated input error. For example, when controlling velocity using a duty cycle closed loop, the derivative of velocity with respect to time is rot per sec², which is acceleration. Therefore, the units for the derivative gain will be duty cycle per unit of acceleration error, or 1/(rot per sec²).

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

Parameters

newKD Parameter to modify

Returns: Itself

◆ WithKG()

SlotConfigs & ctre::phoenix6::configs::SlotConfigs::WithKG ( units::dimensionless::scalar_t newKG )

inlineconstexpr

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

Gravity feedforward/feedback gain. The type of gravity compensation is selected by GravityType.

This is added to the closed loop output. The sign is determined by the gravity type. The unit for this constant is dependent on the control mode, typically fractional duty cycle, voltage, or torque current.

Minimum Value: -128
Maximum Value: 127
Default Value: 0
Units:

Parameters

newKG Parameter to modify

Returns: Itself

◆ WithKI()

SlotConfigs & ctre::phoenix6::configs::SlotConfigs::WithKI ( units::dimensionless::scalar_t newKI )

inlineconstexpr

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

Integral gain.

The units for this gain is dependent on the control mode. Since this gain is multiplied by error in the input integrated over time (in units of seconds), the units should be defined as units of output per unit of integrated input error. For example, when controlling velocity using a duty cycle closed loop, integrating velocity over time results in rps * s = rotations. Therefore, the units for the integral gain will be duty cycle per rotation of accumulated error, or 1/rot.

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

Parameters

newKI Parameter to modify

Returns: Itself

◆ WithKP()

SlotConfigs & ctre::phoenix6::configs::SlotConfigs::WithKP ( units::dimensionless::scalar_t newKP )

inlineconstexpr

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

Proportional gain.

The units for this gain is dependent on the control mode. Since this gain is multiplied by error in the input, the units should be defined as units of output per unit of input error. For example, when controlling velocity using a duty cycle closed loop, the units for the proportional gain will be duty cycle per rps of error, or 1/rps.

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

Parameters

newKP Parameter to modify

Returns: Itself

◆ WithKS()

SlotConfigs & ctre::phoenix6::configs::SlotConfigs::WithKS ( units::dimensionless::scalar_t newKS )

inlineconstexpr

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

Static feedforward gain.

This is added to the closed loop output. The unit for this constant is dependent on the control mode, typically fractional duty cycle, voltage, or torque current.

The sign is typically determined by reference velocity when using position, velocity, and Motion Magic® closed loop modes. However, when using position closed loop with zero velocity reference (no motion profiling), the application can instead use the position closed loop error by setting the Static Feedforward Sign configuration parameter. When doing so, we recommend the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.

Minimum Value: -128
Maximum Value: 127
Default Value: 0
Units:

Parameters

newKS Parameter to modify

Returns: Itself

◆ WithKV()

SlotConfigs & ctre::phoenix6::configs::SlotConfigs::WithKV ( units::dimensionless::scalar_t newKV )

inlineconstexpr

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

Velocity feedforward gain.

The units for this gain is dependent on the control mode. Since this gain is multiplied by the requested velocity, the units should be defined as units of output per unit of requested input velocity. For example, when controlling velocity using a duty cycle closed loop, the units for the velocity feedfoward gain will be duty cycle per requested rps, or 1/rps.

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

Parameters

newKV Parameter to modify

Returns: Itself

◆ WithStaticFeedforwardSign()

SlotConfigs & ctre::phoenix6::configs::SlotConfigs::WithStaticFeedforwardSign ( signals::StaticFeedforwardSignValue newStaticFeedforwardSign )

inlineconstexpr

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

Static feedforward sign during position closed loop.

This determines the sign of the applied kS during position closed-loop modes. The default behavior uses the velocity reference sign. This works well with velocity closed loop, Motion Magic® controls, and position closed loop when velocity reference is specified (motion profiling).

However, when using position closed loop with zero velocity reference (no motion profiling), the application may want to apply static feedforward based on the sign of closed loop error instead. When doing so, we recommend using the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.

Parameters

newStaticFeedforwardSign Parameter to modify

Returns: Itself

Member Data Documentation

◆ GainSchedBehavior

signals::GainSchedBehaviorValue ctre::phoenix6::configs::SlotConfigs::GainSchedBehavior = signals::GainSchedBehaviorValue::Inactive

The behavior of the gain scheduler on this slot.

This specifies which gains to use while within the configured GainSchedErrorThreshold. The default is to continue using the specified slot.

Gain scheduling will not take effect when running velocity closed-loop controls.

◆ GravityArmPositionOffset

units::angle::turn_t ctre::phoenix6::configs::SlotConfigs::GravityArmPositionOffset = 0_tr

Gravity feedback position offset when using the Arm/Cosine gravity type.

This is an offset applied to the position of the arm, within (-0.25, 0.25) rot, before calculating the output of kG. This is useful when the center of gravity of the arm is offset from the actual zero point of the arm, such as when the arm and intake form an L shape.

Minimum Value: -0.25
Maximum Value: 0.25
Default Value: 0
Units: rotations

◆ GravityType

signals::GravityTypeValue ctre::phoenix6::configs::SlotConfigs::GravityType = signals::GravityTypeValue::Elevator_Static

Gravity feedforward/feedback type.

This determines the type of the gravity feedforward/feedback.

Choose Elevator_Static for systems where the gravity feedforward is constant, such as an elevator. The gravity feedforward output will always have the same sign.

Choose Arm_Cosine for systems where the gravity feedback is dependent on the angular position of the mechanism, such as an arm. The gravity feedback output will vary depending on the mechanism angular position. Note that the sensor offset and ratios must be configured so that the sensor reports a position of 0 when the mechanism is horizonal (parallel to the ground), and the reported sensor position is 1:1 with the mechanism.

◆ kA

units::dimensionless::scalar_t ctre::phoenix6::configs::SlotConfigs::kA = 0

Acceleration feedforward gain.

The units for this gain is dependent on the control mode. Since this gain is multiplied by the requested acceleration, the units should be defined as units of output per unit of requested input acceleration. For example, when controlling velocity using a duty cycle closed loop, the units for the acceleration feedfoward gain will be duty cycle per requested rot per sec², or 1/(rot per sec²).

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

◆ kD

units::dimensionless::scalar_t ctre::phoenix6::configs::SlotConfigs::kD = 0

Derivative gain.

The units for this gain is dependent on the control mode. Since this gain is multiplied by the derivative of error in the input with respect to time (in units of seconds), the units should be defined as units of output per unit of the differentiated input error. For example, when controlling velocity using a duty cycle closed loop, the derivative of velocity with respect to time is rot per sec², which is acceleration. Therefore, the units for the derivative gain will be duty cycle per unit of acceleration error, or 1/(rot per sec²).

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

◆ kG

units::dimensionless::scalar_t ctre::phoenix6::configs::SlotConfigs::kG = 0

Gravity feedforward/feedback gain.

The type of gravity compensation is selected by GravityType.

This is added to the closed loop output. The sign is determined by the gravity type. The unit for this constant is dependent on the control mode, typically fractional duty cycle, voltage, or torque current.

Minimum Value: -128
Maximum Value: 127
Default Value: 0
Units:

◆ kI

units::dimensionless::scalar_t ctre::phoenix6::configs::SlotConfigs::kI = 0

Integral gain.

The units for this gain is dependent on the control mode. Since this gain is multiplied by error in the input integrated over time (in units of seconds), the units should be defined as units of output per unit of integrated input error. For example, when controlling velocity using a duty cycle closed loop, integrating velocity over time results in rps * s = rotations. Therefore, the units for the integral gain will be duty cycle per rotation of accumulated error, or 1/rot.

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

◆ kP

units::dimensionless::scalar_t ctre::phoenix6::configs::SlotConfigs::kP = 0

Proportional gain.

The units for this gain is dependent on the control mode. Since this gain is multiplied by error in the input, the units should be defined as units of output per unit of input error. For example, when controlling velocity using a duty cycle closed loop, the units for the proportional gain will be duty cycle per rps of error, or 1/rps.

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

◆ kS

units::dimensionless::scalar_t ctre::phoenix6::configs::SlotConfigs::kS = 0

Static feedforward gain.

This is added to the closed loop output. The unit for this constant is dependent on the control mode, typically fractional duty cycle, voltage, or torque current.

The sign is typically determined by reference velocity when using position, velocity, and Motion Magic® closed loop modes. However, when using position closed loop with zero velocity reference (no motion profiling), the application can instead use the position closed loop error by setting the Static Feedforward Sign configuration parameter. When doing so, we recommend the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.

Minimum Value: -128
Maximum Value: 127
Default Value: 0
Units:

◆ kV

units::dimensionless::scalar_t ctre::phoenix6::configs::SlotConfigs::kV = 0

Velocity feedforward gain.

The units for this gain is dependent on the control mode. Since this gain is multiplied by the requested velocity, the units should be defined as units of output per unit of requested input velocity. For example, when controlling velocity using a duty cycle closed loop, the units for the velocity feedfoward gain will be duty cycle per requested rps, or 1/rps.

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

◆ SlotNumber

int ctre::phoenix6::configs::SlotConfigs::SlotNumber = 0

Chooses which slot these configs are for.

◆ StaticFeedforwardSign

signals::StaticFeedforwardSignValue ctre::phoenix6::configs::SlotConfigs::StaticFeedforwardSign = signals::StaticFeedforwardSignValue::UseVelocitySign

Static feedforward sign during position closed loop.

This determines the sign of the applied kS during position closed-loop modes. The default behavior uses the velocity reference sign. This works well with velocity closed loop, Motion Magic® controls, and position closed loop when velocity reference is specified (motion profiling).

However, when using position closed loop with zero velocity reference (no motion profiling), the application may want to apply static feedforward based on the sign of closed loop error instead. When doing so, we recommend using the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.

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

ctre/phoenix6/configs/SlotConfigs.hpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SlotConfigs()

Member Function Documentation

◆ Deserialize()

◆ From() [1/3]

◆ From() [2/3]

◆ From() [3/3]

◆ Serialize()

◆ ToString()

◆ WithGainSchedBehavior()

◆ WithGravityArmPositionOffset()

◆ WithGravityType()

◆ WithKA()

◆ WithKD()

◆ WithKG()

◆ WithKI()

◆ WithKP()

◆ WithKS()

◆ WithKV()

◆ WithStaticFeedforwardSign()

Member Data Documentation

◆ GainSchedBehavior

◆ GravityArmPositionOffset

◆ GravityType

◆ kA

◆ kD

◆ kG

◆ kI

◆ kP

◆ kS

◆ kV

◆ SlotNumber

◆ StaticFeedforwardSign