Class QuadratureConfigs

Namespace

CTRE.Phoenix6.Configs

Assembly

Phoenix6.Hardware.dll

Configs related to the CANdi™ branded device's quadrature interface using both the S1IN and S2IN inputs

All the configs related to the quadrature interface for the CANdi™ branded device , including encoder edges per revolution and sensor direction.

public class QuadratureConfigs : IParentConfiguration, ISerializable, ICloneable

Inheritance

object

QuadratureConfigs

Implements

IParentConfiguration

ISerializable

ICloneable

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

Fields

QuadratureEdgesPerRotation

The number of quadrature edges in one rotation for the quadrature sensor connected to the Talon data port.

This is the total number of transitions from high-to-low or low-to-high across both channels per rotation of the sensor. This is also equivalent to the Counts Per Revolution when using 4x decoding.

For example, the SRX Mag Encoder has 4096 edges per rotation, and a US Digital 1024 CPR (Cycles Per Revolution) quadrature encoder has 4096 edges per rotation.

On the Talon FXS, this can be at most 2,000,000,000 / Peak RPM.

• Minimum Value1
• Maximum Value1000000
• Default Value4096
• Units

public int QuadratureEdgesPerRotation

Field Value

int

SensorDirection

Direction of the quadrature sensor to determine positive rotation. Invert this so that forward motion on the mechanism results in an increase in quadrature position.

• Default ValueFalse

public bool SensorDirection

Field Value

bool

Methods

Clone()

Creates a copy of this config group.

public QuadratureConfigs Clone()

Returns

QuadratureConfigs

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

WithQuadratureEdgesPerRotation(int)

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

The number of quadrature edges in one rotation for the quadrature sensor connected to the Talon data port.

This is the total number of transitions from high-to-low or low-to-high across both channels per rotation of the sensor. This is also equivalent to the Counts Per Revolution when using 4x decoding.

For example, the SRX Mag Encoder has 4096 edges per rotation, and a US Digital 1024 CPR (Cycles Per Revolution) quadrature encoder has 4096 edges per rotation.

On the Talon FXS, this can be at most 2,000,000,000 / Peak RPM.

• Minimum Value1
• Maximum Value1000000
• Default Value4096
• Units

public QuadratureConfigs WithQuadratureEdgesPerRotation(int newQuadratureEdgesPerRotation)

Parameters

newQuadratureEdgesPerRotation int

Parameter to modify

Returns

QuadratureConfigs

Itself

WithSensorDirection(bool)

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

Direction of the quadrature sensor to determine positive rotation. Invert this so that forward motion on the mechanism results in an increase in quadrature position.

• Default ValueFalse

public QuadratureConfigs WithSensorDirection(bool newSensorDirection)

Parameters

newSensorDirection bool

Parameter to modify

Returns

QuadratureConfigs

Itself