ctre::phoenix6::controls::CoastOut Class Reference

Request coast neutral output of actuator. More...

#include <ctre/phoenix6/controls/CoastOut.hpp>

Inheritance diagram for ctre::phoenix6::controls::CoastOut:

Public Member Functions
	CoastOut ()
	Request coast neutral output of actuator.
CoastOut &	WithUseTimesync (bool newUseTimesync)
	Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easier to use request API.
CoastOut &	WithUpdateFreqHz (units::frequency::hertz_t newUpdateFreqHz)
	Sets the period at which this control will update at.
std::string	ToString () const override
	Returns a string representation of the object.
std::map< std::string, std::string >	GetControlInfo () const override
	Gets information about this control request.
Public Member Functions inherited from ctre::phoenix6::controls::ControlRequest
	ControlRequest (std::string name)
	Constructs a new Control Request with the given name.
std::string const &	GetName () const
virtual	~ControlRequest ()=default

Public Attributes
bool	UseTimesync = false
	Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore).
units::frequency::hertz_t	UpdateFreqHz {20_Hz}
	The period at which this control will update at.

Additional Inherited Members
Protected Member Functions inherited from ctre::phoenix6::controls::ControlRequest
	ControlRequest (ControlRequest const &)=default
	ControlRequest (ControlRequest &&)=default
ControlRequest &	operator= (ControlRequest const &)=default
ControlRequest &	operator= (ControlRequest &&)=default
Protected Attributes inherited from ctre::phoenix6::controls::ControlRequest
std::string	name

Detailed Description

Request coast neutral output of actuator.

The bridge is disabled and the rotor is allowed to coast.

Constructor & Destructor Documentation

CoastOut()

ctre::phoenix6::controls::CoastOut::CoastOut ( )

inline

Request coast neutral output of actuator.

The bridge is disabled and the rotor is allowed to coast.

Member Function Documentation

GetControlInfo()

std::map< std::string, std::string > ctre::phoenix6::controls::CoastOut::GetControlInfo ( ) const

inlineoverridevirtual

Gets information about this control request.

Returns

Map of control parameter names and corresponding applied values

Implements ctre::phoenix6::controls::ControlRequest.

ToString()

std::string ctre::phoenix6::controls::CoastOut::ToString ( ) const

inlineoverridevirtual

Returns a string representation of the object.

Returns

a string representation of the object.

Implements ctre::phoenix6::controls::ControlRequest.

WithUpdateFreqHz()

CoastOut & ctre::phoenix6::controls::CoastOut::WithUpdateFreqHz ( units::frequency::hertz_t newUpdateFreqHz )

inline

Sets the period at which this control will update at.

This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

Parameters

newUpdateFreqHz

Parameter to modify

Returns

Itself

WithUseTimesync()

CoastOut & ctre::phoenix6::controls::CoastOut::WithUseTimesync ( bool newUseTimesync )

inline

Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easier to use request API.

Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

newUseTimesync

Parameter to modify

Returns

Itself

Member Data Documentation

UpdateFreqHz

units::frequency::hertz_t ctre::phoenix6::controls::CoastOut::UpdateFreqHz {20_Hz}

The period at which this control will update at.

This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

UseTimesync

bool ctre::phoenix6::controls::CoastOut::UseTimesync = false

Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore).

This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

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

• ctre/phoenix6/controls/CoastOut.hpp