Enum GainSchedBehaviorValue

Namespace

CTRE.Phoenix6.Signals

Assembly

Phoenix6.Hardware.dll

The behavior of the gain scheduler on this slot. This specifies which gains to use while within the configured GainSchedErrorThreshold. The default is to continue using the specified slot.

Gain scheduling will not take effect when running velocity closed-loop controls.

public enum GainSchedBehaviorValue

Extension Methods

GainSchedBehaviorValueExtensions.Value(GainSchedBehaviorValue)

Fields

Inactive = 0

No gain scheduling will occur.

UseSlot0 = 2

Switch to Slot 0 while within the configured GainSchedErrorThreshold.

UseSlot1 = 3

Switch to Slot 1 while within the configured GainSchedErrorThreshold.

UseSlot2 = 4

Switch to Slot 2 while within the configured GainSchedErrorThreshold.

ZeroOutput = 1

The output of the PID controller will be completely zeroed, except for kG and the user FeedForward control request parameter.