ctre::phoenix6::controls::StaticBrake Class Reference

Applies full neutral-brake by shorting motor leads together. More...

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

Inheritance diagram for ctre::phoenix6::controls::StaticBrake:

Public Member Functions
constexpr	StaticBrake ()
	Applies full neutral-brake by shorting motor leads together.
constexpr	~StaticBrake () override
constexpr std::string_view	GetName () const override
	Gets the name of this control request.
constexpr StaticBrake &	WithUseTimesync (bool newUseTimesync)
	Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easier to use request API.
constexpr StaticBrake &	WithUpdateFreqHz (units::frequency::hertz_t newUpdateFreqHz)
	Sets the frequency at which this control will update.
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
constexpr	ControlRequest ()=default
	Constructs a new Control Request.
virtual constexpr	~ControlRequest ()

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 frequency at which this control will update.

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

Detailed Description

Applies full neutral-brake by shorting motor leads together.

Constructor & Destructor Documentation

StaticBrake()

ctre::phoenix6::controls::StaticBrake::StaticBrake ( )

inlineconstexpr

Applies full neutral-brake by shorting motor leads together.

~StaticBrake()

ctre::phoenix6::controls::StaticBrake::~StaticBrake ( )

inlineconstexproverride

Member Function Documentation

GetControlInfo()

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

overridevirtual

Gets information about this control request.

Returns

Map of control parameter names and corresponding applied values

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

GetName()

std::string_view ctre::phoenix6::controls::StaticBrake::GetName ( ) const

inlineconstexproverridevirtual

Gets the name of this control request.

Returns

Name of the control request

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

ToString()

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

overridevirtual

Returns a string representation of the object.

Returns

a string representation of the object.

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

WithUpdateFreqHz()

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

inlineconstexpr

Sets the frequency at which this control will update.

This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

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()

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

inlineconstexpr

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::StaticBrake::UpdateFreqHz {20_Hz}

The frequency at which this control will update.

This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

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::StaticBrake::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/StaticBrake.hpp