Table of Contents

Enum GravityTypeValue

Namespace
CTRE.Phoenix6.Signals
Assembly
Phoenix6.Hardware.dll

Gravity feedforward/feedback type.

This determines the type of the gravity feedforward/feedback.

Choose Elevator_Static for systems where the gravity feedforward is constant, such as an elevator. The gravity feedforward output will always have the same sign.

Choose Arm_Cosine for systems where the gravity feedback is dependent on the angular position of the mechanism, such as an arm. The gravity feedback output will vary depending on the mechanism angular position. Note that the sensor offset and ratios must be configured so that the sensor reports a position of 0 when the mechanism is horizonal (parallel to the ground), and the reported sensor position is 1:1 with the mechanism. 
public enum GravityTypeValue
Extension Methods

Fields

Arm_Cosine = 1

The system's gravity feedback is dependent on the angular position of the mechanism, such as an arm. The gravity feedback output will vary depending on the mechanism angular position. Note that the sensor offset and ratios must be configured so that the sensor reports a position of 0 when the mechanism is horizonal (parallel to the ground), and the reported sensor position is 1:1 with the mechanism.

Elevator_Static = 0

The system's gravity feedforward is constant, such as an elevator. The gravity feedforward output will always have the same sign.