Class TorqueCurrentConfigs

Namespace

CTRE.Phoenix6.Configs

Assembly

Phoenix6.Hardware.dll

Configs that affect Torque Current control types.

Includes the maximum and minimum applied torque output and the neutral deadband used during TorqueCurrentFOC requests.

public class TorqueCurrentConfigs : IParentConfiguration, ISerializable, ICloneable

Inheritance

object

TorqueCurrentConfigs

Implements

IParentConfiguration

ISerializable

ICloneable

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

Fields

PeakForwardTorqueCurrent

Maximum (forward) output during torque current based control modes.

• Minimum Value-800
• Maximum Value800
• Default Value800
• UnitsA

public double PeakForwardTorqueCurrent

Field Value

double

PeakReverseTorqueCurrent

Minimum (reverse) output during torque current based control modes.

• Minimum Value-800
• Maximum Value800
• Default Value-800
• UnitsA

public double PeakReverseTorqueCurrent

Field Value

double

TorqueNeutralDeadband

Configures the output deadband during torque current based control modes.

• Minimum Value0
• Maximum Value25
• Default Value0.0
• UnitsA

public double TorqueNeutralDeadband

Field Value

double

Methods

Clone()

Creates a copy of this config group.

public TorqueCurrentConfigs Clone()

Returns

TorqueCurrentConfigs

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

WithPeakForwardTorqueCurrent(double)

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

Maximum (forward) output during torque current based control modes.

• Minimum Value-800
• Maximum Value800
• Default Value800
• UnitsA

public TorqueCurrentConfigs WithPeakForwardTorqueCurrent(double newPeakForwardTorqueCurrent)

Parameters

newPeakForwardTorqueCurrent double

Parameter to modify

Returns

TorqueCurrentConfigs

Itself

WithPeakReverseTorqueCurrent(double)

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

Minimum (reverse) output during torque current based control modes.

• Minimum Value-800
• Maximum Value800
• Default Value-800
• UnitsA

public TorqueCurrentConfigs WithPeakReverseTorqueCurrent(double newPeakReverseTorqueCurrent)

Parameters

newPeakReverseTorqueCurrent double

Parameter to modify

Returns

TorqueCurrentConfigs

Itself

WithTorqueNeutralDeadband(double)

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

Configures the output deadband during torque current based control modes.

• Minimum Value0
• Maximum Value25
• Default Value0.0
• UnitsA

public TorqueCurrentConfigs WithTorqueNeutralDeadband(double newTorqueNeutralDeadband)

Parameters

newTorqueNeutralDeadband double

Parameter to modify

Returns

TorqueCurrentConfigs

Itself