ctre::phoenix6::configs::TorqueCurrentConfigs Class Reference

Configs to control the maximum and minimum applied torque when using Torque Current control types. More...

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

Inheritance diagram for ctre::phoenix6::configs::TorqueCurrentConfigs:

Public Member Functions
TorqueCurrentConfigs &	WithPeakForwardTorqueCurrent (double newPeakForwardTorqueCurrent)
	Modifies this configuration's PeakForwardTorqueCurrent parameter and returns itself for method-chaining and easier to use config API. More...
TorqueCurrentConfigs &	WithPeakReverseTorqueCurrent (double newPeakReverseTorqueCurrent)
	Modifies this configuration's PeakReverseTorqueCurrent parameter and returns itself for method-chaining and easier to use config API. More...
TorqueCurrentConfigs &	WithTorqueNeutralDeadband (double newTorqueNeutralDeadband)
	Modifies this configuration's TorqueNeutralDeadband parameter and returns itself for method-chaining and easier to use config API. More...
std::string	ToString () const override
std::string	Serialize () const override
ctre::phoenix::StatusCode	Deserialize (const std::string &to_deserialize) override
virtual std::string	ToString () const =0
virtual ctre::phoenix::StatusCode	Deserialize (const std::string &string)=0
virtual std::string	Serialize () const =0

Public Attributes
double	PeakForwardTorqueCurrent = 800
	Maximum (forward) output during torque current based control modes. More...
double	PeakReverseTorqueCurrent = -800
	Minimum (reverse) output during torque current based control modes. More...
double	TorqueNeutralDeadband = 0.0
	Configures the output deadband during torque current based control modes. More...

Detailed Description

Configs to control the maximum and minimum applied torque when using Torque Current control types.

Similar to peak output, but for the TorqueCurrentFOC control type requests.

Member Function Documentation

Deserialize()

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

inlineoverridevirtual

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

Serialize()

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

inlineoverridevirtual

Implements ctre::phoenix6::ISerializable.

ToString()

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

inlineoverridevirtual

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

WithPeakForwardTorqueCurrent()

TorqueCurrentConfigs & ctre::phoenix6::configs::TorqueCurrentConfigs::WithPeakForwardTorqueCurrent ( double  newPeakForwardTorqueCurrent )

inline

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

Parameters

newPeakForwardTorqueCurrent

Parameter to modify

Returns

Itself

WithPeakReverseTorqueCurrent()

TorqueCurrentConfigs & ctre::phoenix6::configs::TorqueCurrentConfigs::WithPeakReverseTorqueCurrent ( double  newPeakReverseTorqueCurrent )

inline

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

Parameters

newPeakReverseTorqueCurrent

Parameter to modify

Returns

Itself

WithTorqueNeutralDeadband()

TorqueCurrentConfigs & ctre::phoenix6::configs::TorqueCurrentConfigs::WithTorqueNeutralDeadband ( double  newTorqueNeutralDeadband )

inline

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

Parameters

newTorqueNeutralDeadband

Parameter to modify

Returns

Itself

Member Data Documentation

PeakForwardTorqueCurrent

double ctre::phoenix6::configs::TorqueCurrentConfigs::PeakForwardTorqueCurrent = 800

Maximum (forward) output during torque current based control modes.

Minimum Value: -800 Maximum Value: 800 Default Value: 800 Units: A

PeakReverseTorqueCurrent

double ctre::phoenix6::configs::TorqueCurrentConfigs::PeakReverseTorqueCurrent = -800

Minimum (reverse) output during torque current based control modes.

Minimum Value: -800 Maximum Value: 800 Default Value: -800 Units: A

TorqueNeutralDeadband

double ctre::phoenix6::configs::TorqueCurrentConfigs::TorqueNeutralDeadband = 0.0

Configures the output deadband during torque current based control modes.

Minimum Value: 0 Maximum Value: 25 Default Value: 0.0 Units: A

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

• ctre/phoenix6/configs/Configs.hpp