Class OpenLoopRampsConfigs

Namespace

CTRE.Phoenix6.Configs

Assembly

Phoenix6.Hardware.dll

Configs that affect the open-loop control of this motor controller.

Open-loop ramp rates for the various control types.

public class OpenLoopRampsConfigs : IParentConfiguration, ISerializable, ICloneable

Inheritance

object

OpenLoopRampsConfigs

Implements

IParentConfiguration

ISerializable

ICloneable

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

Fields

DutyCycleOpenLoopRampPeriod

If non-zero, this determines how much time to ramp from 0% output to 100% during the open-loop DutyCycleOut control mode.

This provides an easy way to limit the acceleration of the motor. However, the acceleration and current draw of the motor can be better restricted using current limits instead of a ramp rate.

• Minimum Value0
• Maximum Value1
• Default Value0
• Unitsseconds

public double DutyCycleOpenLoopRampPeriod

Field Value

double

TorqueOpenLoopRampPeriod

If non-zero, this determines how much time to ramp from 0A output to 300A during the open-loop TorqueCurrent control mode.

Since TorqueCurrent is directly proportional to acceleration, this ramp limits jerk instead of acceleration.

• Minimum Value0
• Maximum Value10
• Default Value0
• Unitsseconds

public double TorqueOpenLoopRampPeriod

Field Value

double

VoltageOpenLoopRampPeriod

If non-zero, this determines how much time to ramp from 0V output to 12V during the open-loop VoltageOut control mode.

This provides an easy way to limit the acceleration of the motor. However, the acceleration and current draw of the motor can be better restricted using current limits instead of a ramp rate.

• Minimum Value0
• Maximum Value1
• Default Value0
• Unitsseconds

public double VoltageOpenLoopRampPeriod

Field Value

double

Methods

Clone()

Creates a copy of this config group.

public OpenLoopRampsConfigs Clone()

Returns

OpenLoopRampsConfigs

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

WithDutyCycleOpenLoopRampPeriod(double)

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

If non-zero, this determines how much time to ramp from 0% output to 100% during the open-loop DutyCycleOut control mode.

This provides an easy way to limit the acceleration of the motor. However, the acceleration and current draw of the motor can be better restricted using current limits instead of a ramp rate.

• Minimum Value0
• Maximum Value1
• Default Value0
• Unitsseconds

public OpenLoopRampsConfigs WithDutyCycleOpenLoopRampPeriod(double newDutyCycleOpenLoopRampPeriod)

Parameters

newDutyCycleOpenLoopRampPeriod double

Parameter to modify

Returns

OpenLoopRampsConfigs

Itself

WithTorqueOpenLoopRampPeriod(double)

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

If non-zero, this determines how much time to ramp from 0A output to 300A during the open-loop TorqueCurrent control mode.

Since TorqueCurrent is directly proportional to acceleration, this ramp limits jerk instead of acceleration.

• Minimum Value0
• Maximum Value10
• Default Value0
• Unitsseconds

public OpenLoopRampsConfigs WithTorqueOpenLoopRampPeriod(double newTorqueOpenLoopRampPeriod)

Parameters

newTorqueOpenLoopRampPeriod double

Parameter to modify

Returns

OpenLoopRampsConfigs

Itself

WithVoltageOpenLoopRampPeriod(double)

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

If non-zero, this determines how much time to ramp from 0V output to 12V during the open-loop VoltageOut control mode.

This provides an easy way to limit the acceleration of the motor. However, the acceleration and current draw of the motor can be better restricted using current limits instead of a ramp rate.

• Minimum Value0
• Maximum Value1
• Default Value0
• Unitsseconds

public OpenLoopRampsConfigs WithVoltageOpenLoopRampPeriod(double newVoltageOpenLoopRampPeriod)

Parameters

newVoltageOpenLoopRampPeriod double

Parameter to modify

Returns

OpenLoopRampsConfigs

Itself