CTRE Phoenix 6 C++ 25.0.0-beta-4
Loading...
Searching...
No Matches
Public Member Functions | Public Attributes | List of all members
ctre::phoenix6::configs::TorqueCurrentConfigs Class Reference

Configs that affect Torque Current control types. More...

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

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

Public Member Functions

constexpr TorqueCurrentConfigs ()=default
 
constexpr TorqueCurrentConfigs & WithPeakForwardTorqueCurrent (units::current::ampere_t newPeakForwardTorqueCurrent)
 Modifies this configuration's PeakForwardTorqueCurrent parameter and returns itself for method-chaining and easier to use config API.
 
constexpr TorqueCurrentConfigs & WithPeakReverseTorqueCurrent (units::current::ampere_t newPeakReverseTorqueCurrent)
 Modifies this configuration's PeakReverseTorqueCurrent parameter and returns itself for method-chaining and easier to use config API.
 
constexpr TorqueCurrentConfigs & WithTorqueNeutralDeadband (units::current::ampere_t newTorqueNeutralDeadband)
 Modifies this configuration's TorqueNeutralDeadband parameter and returns itself for method-chaining and easier to use config API.
 
std::string ToString () const override
 
std::string Serialize () const override
 
ctre::phoenix::StatusCode Deserialize (const std::string &to_deserialize) override
 

Public Attributes

units::current::ampere_t PeakForwardTorqueCurrent = 800_A
 Maximum (forward) output during torque current based control modes.
 
units::current::ampere_t PeakReverseTorqueCurrent = -800_A
 Minimum (reverse) output during torque current based control modes.
 
units::current::ampere_t TorqueNeutralDeadband = 0.0_A
 Configures the output deadband during torque current based control modes.
 

Detailed Description

Configs that affect Torque Current control types.

Includes the maximum and minimum applied torque output and the neutral deadband used during TorqueCurrentFOC requests.

Constructor & Destructor Documentation

◆ TorqueCurrentConfigs()

constexpr ctre::phoenix6::configs::TorqueCurrentConfigs::TorqueCurrentConfigs ( )
constexprdefault

Member Function Documentation

◆ Deserialize()

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

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

◆ Serialize()

std::string ctre::phoenix6::configs::TorqueCurrentConfigs::Serialize ( ) const
inlineoverridevirtual

Implements ctre::phoenix6::ISerializable.

◆ ToString()

std::string ctre::phoenix6::configs::TorqueCurrentConfigs::ToString ( ) const
inlineoverridevirtual

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

◆ WithPeakForwardTorqueCurrent()

constexpr TorqueCurrentConfigs & ctre::phoenix6::configs::TorqueCurrentConfigs::WithPeakForwardTorqueCurrent ( units::current::ampere_t newPeakForwardTorqueCurrent)
inlineconstexpr

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

Maximum (forward) output during torque current based control modes.

  • Minimum Value: -800
  • Maximum Value: 800
  • Default Value: 800
  • Units: A
Parameters
newPeakForwardTorqueCurrentParameter to modify
Returns
Itself

◆ WithPeakReverseTorqueCurrent()

constexpr TorqueCurrentConfigs & ctre::phoenix6::configs::TorqueCurrentConfigs::WithPeakReverseTorqueCurrent ( units::current::ampere_t newPeakReverseTorqueCurrent)
inlineconstexpr

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

Minimum (reverse) output during torque current based control modes.

  • Minimum Value: -800
  • Maximum Value: 800
  • Default Value: -800
  • Units: A
Parameters
newPeakReverseTorqueCurrentParameter to modify
Returns
Itself

◆ WithTorqueNeutralDeadband()

constexpr TorqueCurrentConfigs & ctre::phoenix6::configs::TorqueCurrentConfigs::WithTorqueNeutralDeadband ( units::current::ampere_t newTorqueNeutralDeadband)
inlineconstexpr

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

Configures the output deadband during torque current based control modes.

  • Minimum Value: 0
  • Maximum Value: 25
  • Default Value: 0.0
  • Units: A
Parameters
newTorqueNeutralDeadbandParameter to modify
Returns
Itself

Member Data Documentation

◆ PeakForwardTorqueCurrent

units::current::ampere_t ctre::phoenix6::configs::TorqueCurrentConfigs::PeakForwardTorqueCurrent = 800_A

Maximum (forward) output during torque current based control modes.

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

◆ PeakReverseTorqueCurrent

units::current::ampere_t ctre::phoenix6::configs::TorqueCurrentConfigs::PeakReverseTorqueCurrent = -800_A

Minimum (reverse) output during torque current based control modes.

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

◆ TorqueNeutralDeadband

units::current::ampere_t ctre::phoenix6::configs::TorqueCurrentConfigs::TorqueNeutralDeadband = 0.0_A

Configures the output deadband during torque current based control modes.

  • Minimum Value: 0
  • Maximum Value: 25
  • Default Value: 0.0
  • Units: A
The documentation for this class was generated from the following file: