CTRE Phoenix 6 C++ 25.2.1
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Public Member Functions | Public Attributes | List of all members
ctre::phoenix6::configs::PWM2Configs Class Reference

Configs related to CANdi's PWM interface on the Signal 2 input (S2IN) More...

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

Inheritance diagram for ctre::phoenix6::configs::PWM2Configs:
ctre::phoenix6::configs::ParentConfiguration ctre::phoenix6::ISerializable

Public Member Functions

constexpr PWM2Configs ()=default
 
constexpr PWM2Configs & WithAbsoluteSensorOffset (units::angle::turn_t newAbsoluteSensorOffset)
 Modifies this configuration's AbsoluteSensorOffset parameter and returns itself for method-chaining and easier to use config API.
 
constexpr PWM2Configs & WithAbsoluteSensorDiscontinuityPoint (units::angle::turn_t newAbsoluteSensorDiscontinuityPoint)
 Modifies this configuration's AbsoluteSensorDiscontinuityPoint parameter and returns itself for method-chaining and easier to use config API.
 
constexpr PWM2Configs & WithSensorDirection (bool newSensorDirection)
 Modifies this configuration's SensorDirection 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

units::angle::turn_t AbsoluteSensorOffset = 0.0_tr
 The offset applied to the PWM sensor.
 
units::angle::turn_t AbsoluteSensorDiscontinuityPoint = 0.5_tr
 The positive discontinuity point of the absolute sensor in rotations.
 
bool SensorDirection = false
 Direction of the PWM sensor to determine positive rotation.
 

Detailed Description

Configs related to CANdi's PWM interface on the Signal 2 input (S2IN)

All the configs related to the PWM interface for CANdi on S1, including absolute sensor offset, absolute sensor discontinuity point and sensor direction.

Constructor & Destructor Documentation

◆ PWM2Configs()

ctre::phoenix6::configs::PWM2Configs::PWM2Configs ( )
constexprdefault

Member Function Documentation

◆ Deserialize()

ctre::phoenix::StatusCode ctre::phoenix6::configs::PWM2Configs::Deserialize ( const std::string & to_deserialize)
inlineoverridevirtual

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

◆ Serialize()

std::string ctre::phoenix6::configs::PWM2Configs::Serialize ( ) const
inlineoverridevirtual

Implements ctre::phoenix6::ISerializable.

◆ ToString()

std::string ctre::phoenix6::configs::PWM2Configs::ToString ( ) const
inlineoverridevirtual

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

◆ WithAbsoluteSensorDiscontinuityPoint()

PWM2Configs & ctre::phoenix6::configs::PWM2Configs::WithAbsoluteSensorDiscontinuityPoint ( units::angle::turn_t newAbsoluteSensorDiscontinuityPoint)
inlineconstexpr

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

The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position in the range [x-1, x).

  • Setting this to 1 makes the absolute position unsigned [0, 1)
  • Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
  • Setting this to 0 makes the absolute position always negative [-1, 0)

Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

  • Minimum Value: 0.0
  • Maximum Value: 1.0
  • Default Value: 0.5
  • Units: rotations
Parameters
newAbsoluteSensorDiscontinuityPointParameter to modify
Returns
Itself

◆ WithAbsoluteSensorOffset()

PWM2Configs & ctre::phoenix6::configs::PWM2Configs::WithAbsoluteSensorOffset ( units::angle::turn_t newAbsoluteSensorOffset)
inlineconstexpr

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

The offset applied to the PWM sensor.

This can be used to zero the sensor position in applications where the sensor is 1:1 with the mechanism.

  • Minimum Value: -1
  • Maximum Value: 1
  • Default Value: 0.0
  • Units: rotations
Parameters
newAbsoluteSensorOffsetParameter to modify
Returns
Itself

◆ WithSensorDirection()

PWM2Configs & ctre::phoenix6::configs::PWM2Configs::WithSensorDirection ( bool newSensorDirection)
inlineconstexpr

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

Direction of the PWM sensor to determine positive rotation. Invert this so that forward motion on the mechanism results in an increase in PWM position.

  • Default Value: False
Parameters
newSensorDirectionParameter to modify
Returns
Itself

Member Data Documentation

◆ AbsoluteSensorDiscontinuityPoint

units::angle::turn_t ctre::phoenix6::configs::PWM2Configs::AbsoluteSensorDiscontinuityPoint = 0.5_tr

The positive discontinuity point of the absolute sensor in rotations.

This determines the point at which the absolute sensor wraps around, keeping the absolute position in the range [x-1, x).

  • Setting this to 1 makes the absolute position unsigned [0, 1)
  • Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
  • Setting this to 0 makes the absolute position always negative [-1, 0)

Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

  • Minimum Value: 0.0
  • Maximum Value: 1.0
  • Default Value: 0.5
  • Units: rotations

◆ AbsoluteSensorOffset

units::angle::turn_t ctre::phoenix6::configs::PWM2Configs::AbsoluteSensorOffset = 0.0_tr

The offset applied to the PWM sensor.

This can be used to zero the sensor position in applications where the sensor is 1:1 with the mechanism.

  • Minimum Value: -1
  • Maximum Value: 1
  • Default Value: 0.0
  • Units: rotations

◆ SensorDirection

bool ctre::phoenix6::configs::PWM2Configs::SensorDirection = false

Direction of the PWM sensor to determine positive rotation.

Invert this so that forward motion on the mechanism results in an increase in PWM position.

  • Default Value: False
The documentation for this class was generated from the following file: