ctre::phoenix6::configs::QuadratureConfigs Class Reference

Configs related to CANdi's quadrature interface using both the S1IN and S2IN inputs. More...

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

Inheritance diagram for ctre::phoenix6::configs::QuadratureConfigs:

Public Member Functions
constexpr	QuadratureConfigs ()=default
constexpr QuadratureConfigs &	WithQuadratureEdgesPerRotation (int newQuadratureEdgesPerRotation)
	Modifies this configuration's QuadratureEdgesPerRotation parameter and returns itself for method-chaining and easier to use config API.
constexpr QuadratureConfigs &	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
int	QuadratureEdgesPerRotation = 4096
	The number of quadrature edges in one rotation for the quadrature sensor connected to the Talon data port.
bool	SensorDirection = false
	Direction of the quadrature sensor to determine positive rotation.

Detailed Description

Configs related to CANdi's quadrature interface using both the S1IN and S2IN inputs.

All the configs related to the quadrature interface for CANdi, including encoder edges per revolution and sensor direction.

Constructor & Destructor Documentation

QuadratureConfigs()

ctre::phoenix6::configs::QuadratureConfigs::QuadratureConfigs ( )

constexprdefault

Member Function Documentation

Deserialize()

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

inlineoverridevirtual

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

Serialize()

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

inlineoverridevirtual

Implements ctre::phoenix6::ISerializable.

ToString()

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

inlineoverridevirtual

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

WithQuadratureEdgesPerRotation()

QuadratureConfigs & ctre::phoenix6::configs::QuadratureConfigs::WithQuadratureEdgesPerRotation ( int newQuadratureEdgesPerRotation )

inlineconstexpr

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

The number of quadrature edges in one rotation for the quadrature sensor connected to the Talon data port.

This is the total number of transitions from high-to-low or low-to-high across both channels per rotation of the sensor. This is also equivalent to the Counts Per Revolution when using 4x decoding.

For example, the SRX Mag Encoder has 4096 edges per rotation, and a US Digital 1024 CPR (Cycles Per Revolution) quadrature encoder has 4096 edges per rotation.

On the Talon FXS, this can be at most 2,000,000,000 / Peak RPM.

• Minimum Value: 1
• Maximum Value: 1000000
• Default Value: 4096
• Units:

Parameters

newQuadratureEdgesPerRotation

Parameter to modify

Returns

Itself

WithSensorDirection()

QuadratureConfigs & ctre::phoenix6::configs::QuadratureConfigs::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 quadrature sensor to determine positive rotation. Invert this so that forward motion on the mechanism results in an increase in quadrature position.

• Default Value: False

Parameters

newSensorDirection

Parameter to modify

Returns

Itself

Member Data Documentation

QuadratureEdgesPerRotation

int ctre::phoenix6::configs::QuadratureConfigs::QuadratureEdgesPerRotation = 4096

The number of quadrature edges in one rotation for the quadrature sensor connected to the Talon data port.

This is the total number of transitions from high-to-low or low-to-high across both channels per rotation of the sensor. This is also equivalent to the Counts Per Revolution when using 4x decoding.

For example, the SRX Mag Encoder has 4096 edges per rotation, and a US Digital 1024 CPR (Cycles Per Revolution) quadrature encoder has 4096 edges per rotation.

On the Talon FXS, this can be at most 2,000,000,000 / Peak RPM.

• Minimum Value: 1
• Maximum Value: 1000000
• Default Value: 4096
• Units:

SensorDirection

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

Direction of the quadrature sensor to determine positive rotation.

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

• Default Value: False

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

• ctre/phoenix6/configs/Configs.hpp