Table of Contents

Class ClosedLoopGeneralConfigs

Namespace
CTRE.Phoenix6.Configs
Assembly
Phoenix6.Hardware.dll

Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features. 
public class ClosedLoopGeneralConfigs : IParentConfiguration, ISerializable, ICloneable
Inheritance
ClosedLoopGeneralConfigs
Implements
Inherited Members

Fields

ContinuousWrap

Wrap position error within [-0.5, +0.5) mechanism rotations. Typically used for continuous position closed-loops like swerve azimuth.

This uses the mechanism rotation value. If there is a gear ratio between the sensor and the mechanism, make sure to apply a SensorToMechanismRatio so the closed loop operates on the full rotation.
  • Default ValueFalse
public bool ContinuousWrap

Field Value

bool

DifferentialContinuousWrap

Wrap differential difference position error within [-0.5, +0.5) mechanism rotations. Typically used for continuous position closed-loops like a differential wrist.

This uses the differential difference rotation value. If there is a gear ratio on the difference axis, make sure to apply a SensorToDifferentialRatio so the closed loop operates on the full rotation.
  • Default ValueFalse
public bool DifferentialContinuousWrap

Field Value

bool

GainSchedErrorThreshold

The position closed-loop error threshold for gain scheduling. When the absolute value of the closed-loop error is within the threshold (inclusive), the PID controller will automatically switch gains according to the configured GainSchedBehavior of the slot.

When this is zero (default), no gain scheduling will occur. Additionally, this does not take effect for velocity closed-loop controls.

This can be used to implement a closed-loop deadband or, less commonly, to switch to weaker gains when close to the target.
  • Minimum Value0.0
  • Maximum Value1.0
  • Default Value0.0
  • Unitsrotations
public double GainSchedErrorThreshold

Field Value

double

GainSchedKpBehavior

The behavior of kP output as the error crosses the GainSchedErrorThreshold during gain scheduling. The output of kP can be adjusted to maintain continuity in output, or it can be left discontinuous.

public GainSchedKpBehaviorValue GainSchedKpBehavior

Field Value

GainSchedKpBehaviorValue

Methods

Clone()

Creates a copy of this config group.

public ClosedLoopGeneralConfigs Clone()

Returns

ClosedLoopGeneralConfigs

Deserialize(string)

Deserialize string and put values into this object

public StatusCode Deserialize(string to_deserialize)

Parameters

to_deserialize string

String to deserialize

Returns

StatusCode

OK if deserialization is OK

Serialize()

Serialize this object into a string

public string Serialize()

Returns

string

This object's data serialized into a string

ToString()

Provides the string representation of this object

public override string ToString()

Returns

string

WithContinuousWrap(bool)

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

Wrap position error within [-0.5, +0.5) mechanism rotations. Typically used for continuous position closed-loops like swerve azimuth.

This uses the mechanism rotation value. If there is a gear ratio between the sensor and the mechanism, make sure to apply a SensorToMechanismRatio so the closed loop operates on the full rotation.
  • Default ValueFalse
public ClosedLoopGeneralConfigs WithContinuousWrap(bool newContinuousWrap)

Parameters

newContinuousWrap bool

Parameter to modify

Returns

ClosedLoopGeneralConfigs

Itself

WithDifferentialContinuousWrap(bool)

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

Wrap differential difference position error within [-0.5, +0.5) mechanism rotations. Typically used for continuous position closed-loops like a differential wrist.

This uses the differential difference rotation value. If there is a gear ratio on the difference axis, make sure to apply a SensorToDifferentialRatio so the closed loop operates on the full rotation.
  • Default ValueFalse
public ClosedLoopGeneralConfigs WithDifferentialContinuousWrap(bool newDifferentialContinuousWrap)

Parameters

newDifferentialContinuousWrap bool

Parameter to modify

Returns

ClosedLoopGeneralConfigs

Itself

WithGainSchedErrorThreshold(double)

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

The position closed-loop error threshold for gain scheduling. When the absolute value of the closed-loop error is within the threshold (inclusive), the PID controller will automatically switch gains according to the configured GainSchedBehavior of the slot.

When this is zero (default), no gain scheduling will occur. Additionally, this does not take effect for velocity closed-loop controls.

This can be used to implement a closed-loop deadband or, less commonly, to switch to weaker gains when close to the target.
  • Minimum Value0.0
  • Maximum Value1.0
  • Default Value0.0
  • Unitsrotations
public ClosedLoopGeneralConfigs WithGainSchedErrorThreshold(double newGainSchedErrorThreshold)

Parameters

newGainSchedErrorThreshold double

Parameter to modify

Returns

ClosedLoopGeneralConfigs

Itself

WithGainSchedKpBehavior(GainSchedKpBehaviorValue)

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

The behavior of kP output as the error crosses the GainSchedErrorThreshold during gain scheduling. The output of kP can be adjusted to maintain continuity in output, or it can be left discontinuous. 
public ClosedLoopGeneralConfigs WithGainSchedKpBehavior(GainSchedKpBehaviorValue newGainSchedKpBehavior)

Parameters

newGainSchedKpBehavior GainSchedKpBehaviorValue

Parameter to modify

Returns

ClosedLoopGeneralConfigs

Itself