Interface ControlRequest

Namespace

CTRE.Phoenix6.Controls

Assembly

Phoenix6.Hardware.dll

Common interface implemented by all control requests.

public interface ControlRequest

Properties

Name

Name of this control request.

string Name { get; }

Property Value

string

Methods

GetControlInfo()

Gets information about this control request.

Dictionary<string, string> GetControlInfo()

Returns

Dictionary<string, string>

Dictionary of control parameter names and corresponding applied values

SendRequest(string, uint)

Common method that all control requests implement that will send the request down once the request has all the required information for the send.

StatusCode SendRequest(string network, uint deviceHash)

Parameters

network string

Network to send request down

deviceHash uint

Device to send request to

Returns

StatusCode

Status code of send request

WithUpdateFreqHz(double)

Sets the frequency at which this control will update. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

ControlRequest WithUpdateFreqHz(double newUpdateFreqHz)

Parameters

newUpdateFreqHz double

Parameter to modify

Returns

ControlRequest

Itself