Enum GainSchedKpBehaviorValue

Namespace

CTRE.Phoenix6.Signals

Assembly

Phoenix6.Hardware.dll

The behavior of kP output as the error crosses the GainSchedErrorThreshold during gain scheduling. The output of kP can be adjusted to maintain continuity in output, or it can be left discontinuous.

public enum GainSchedKpBehaviorValue

Extension Methods

GainSchedKpBehaviorValueExtensions.Value(GainSchedKpBehaviorValue)

Fields

Continuous = 0

The gain scheduler will maintain continuity in the kP output as the error crosses the gain threshold. This results in the best system stability, but it may result in output that does not match pOut = kP * error.

Discontinuous = 1

The gain scheduler will allow for a discontinuity in the kP output. This ensures that pOut = kP * error, but it may result in instability as the system's error crosses the gain threshold.