ctre::phoenix6::configs::ClosedLoopGeneralConfigs Class Reference

Configs that affect general behavior during closed-looping. More...

#include <ctre/phoenix6/configs/Configs.hpp>

Inheritance diagram for ctre::phoenix6::configs::ClosedLoopGeneralConfigs:

Public Member Functions
constexpr	ClosedLoopGeneralConfigs ()=default
constexpr ClosedLoopGeneralConfigs &	WithContinuousWrap (bool newContinuousWrap)
	Modifies this configuration's ContinuousWrap parameter and returns itself for method-chaining and easier to use config API.
std::string	ToString () const override
std::string	Serialize () const override
ctre::phoenix::StatusCode	Deserialize (const std::string &to_deserialize) override
Public Member Functions inherited from ctre::phoenix6::configs::ParentConfiguration
Public Member Functions inherited from ctre::phoenix6::ISerializable

Public Attributes
bool	ContinuousWrap = false
	Wrap position error within [-0.5,+0.5) mechanism rotations.

Detailed Description

Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features.

Constructor & Destructor Documentation

ClosedLoopGeneralConfigs()

ctre::phoenix6::configs::ClosedLoopGeneralConfigs::ClosedLoopGeneralConfigs ( )

constexprdefault

Member Function Documentation

Deserialize()

ctre::phoenix::StatusCode ctre::phoenix6::configs::ClosedLoopGeneralConfigs::Deserialize ( const std::string & to_deserialize )

inlineoverridevirtual

Implements ctre::phoenix6::configs::ParentConfiguration.

Serialize()

std::string ctre::phoenix6::configs::ClosedLoopGeneralConfigs::Serialize ( ) const

inlineoverridevirtual

Implements ctre::phoenix6::ISerializable.

ToString()

std::string ctre::phoenix6::configs::ClosedLoopGeneralConfigs::ToString ( ) const

inlineoverridevirtual

Implements ctre::phoenix6::configs::ParentConfiguration.

WithContinuousWrap()

ClosedLoopGeneralConfigs & ctre::phoenix6::configs::ClosedLoopGeneralConfigs::WithContinuousWrap ( bool newContinuousWrap )

inlineconstexpr

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

Wrap position error within [-0.5,+0.5) mechanism rotations. Typically used for continuous position closed-loops like swerve azimuth.

This uses the mechanism rotation value. If there is a gear ratio between the sensor and the mechanism, make sure to apply a SensorToMechanismRatio so the closed loop operates on the full rotation.

• Default Value: False

Parameters

newContinuousWrap

Parameter to modify

Returns

Itself

Member Data Documentation

ContinuousWrap

bool ctre::phoenix6::configs::ClosedLoopGeneralConfigs::ContinuousWrap = false

Wrap position error within [-0.5,+0.5) mechanism rotations.

Typically used for continuous position closed-loops like swerve azimuth.

This uses the mechanism rotation value. If there is a gear ratio between the sensor and the mechanism, make sure to apply a SensorToMechanismRatio so the closed loop operates on the full rotation.

• Default Value: False

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The documentation for this class was generated from the following file:

• ctre/phoenix6/configs/Configs.hpp