CTRE Phoenix 6 C++ 24.3.0
Public Member Functions | Public Attributes | List of all members
ctre::phoenix6::configs::TorqueCurrentConfigs Class Reference

Configs that affect Torque Current control types. More...

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

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

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 that affect Torque Current control types.

Includes the maximum and minimum applied torque output and the neutral deadband used during TorqueCurrentFOC 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.

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

  • Minimum Value: -800
  • Maximum Value: 800
  • Default Value: 800
  • Units: A
Parameters
newPeakForwardTorqueCurrentParameter 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.

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

  • Minimum Value: -800
  • Maximum Value: 800
  • Default Value: -800
  • Units: A
Parameters
newPeakReverseTorqueCurrentParameter 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.

Configures the output deadband during torque current based control modes.

  • Minimum Value: 0
  • Maximum Value: 25
  • Default Value: 0.0
  • Units: A
Parameters
newTorqueNeutralDeadbandParameter 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
The documentation for this class was generated from the following file: