Class DifferentialConstantsConfigs

Namespace

CTRE.Phoenix6.Configs

Assembly

Phoenix6.Hardware.dll

Configs related to constants used for differential control of a mechanism.

Includes the differential peak outputs.

public class DifferentialConstantsConfigs : IParentConfiguration, ISerializable, ICloneable

Inheritance

object

DifferentialConstantsConfigs

Implements

IParentConfiguration

ISerializable

ICloneable

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

Fields

PeakDifferentialDutyCycle

Maximum differential output during duty cycle based differential control modes.

• Minimum Value0.0
• Maximum Value1.0
• Default Value1.0
• Unitsfractional

public double PeakDifferentialDutyCycle

Field Value

double

PeakDifferentialTorqueCurrent

Maximum differential output during torque current based differential control modes.

• Minimum Value0.0
• Maximum Value800
• Default Value800
• UnitsA

public double PeakDifferentialTorqueCurrent

Field Value

double

PeakDifferentialVoltage

Maximum differential output during voltage based differential control modes.

• Minimum Value0.0
• Maximum Value32
• Default Value16
• UnitsV

public double PeakDifferentialVoltage

Field Value

double

Methods

Clone()

Creates a copy of this config group.

public DifferentialConstantsConfigs Clone()

Returns

DifferentialConstantsConfigs

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

WithPeakDifferentialDutyCycle(double)

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

Maximum differential output during duty cycle based differential control modes.

• Minimum Value0.0
• Maximum Value1.0
• Default Value1.0
• Unitsfractional

public DifferentialConstantsConfigs WithPeakDifferentialDutyCycle(double newPeakDifferentialDutyCycle)

Parameters

newPeakDifferentialDutyCycle double

Parameter to modify

Returns

DifferentialConstantsConfigs

Itself

WithPeakDifferentialTorqueCurrent(double)

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

Maximum differential output during torque current based differential control modes.

• Minimum Value0.0
• Maximum Value800
• Default Value800
• UnitsA

public DifferentialConstantsConfigs WithPeakDifferentialTorqueCurrent(double newPeakDifferentialTorqueCurrent)

Parameters

newPeakDifferentialTorqueCurrent double

Parameter to modify

Returns

DifferentialConstantsConfigs

Itself

WithPeakDifferentialVoltage(double)

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

Maximum differential output during voltage based differential control modes.

• Minimum Value0.0
• Maximum Value32
• Default Value16
• UnitsV

public DifferentialConstantsConfigs WithPeakDifferentialVoltage(double newPeakDifferentialVoltage)

Parameters

newPeakDifferentialVoltage double

Parameter to modify

Returns

DifferentialConstantsConfigs

Itself