ctre::phoenix6::controls::ModulateVBatOut Class Reference

Modulates the CANdle VBat output to the specified duty cycle. More...

#include <ctre/phoenix6/controls/ModulateVBatOut.hpp>

Inheritance diagram for ctre::phoenix6::controls::ModulateVBatOut:

Public Member Functions
	ModulateVBatOut (units::dimensionless::scalar_t Output)
	Modulates the CANdle VBat output to the specified duty cycle.
ModulateVBatOut &	WithOutput (units::dimensionless::scalar_t newOutput)
	Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.
ModulateVBatOut &	WithUpdateFreqHz (units::frequency::hertz_t newUpdateFreqHz)
	Sets the period at which this control will update at.
std::string	ToString () const override
	Returns a string representation of the object.
std::map< std::string, std::string >	GetControlInfo () const override
	Gets information about this control request.
Public Member Functions inherited from ctre::phoenix6::controls::ControlRequest
	ControlRequest (std::string name)
	Constructs a new Control Request with the given name.
std::string const &	GetName () const
virtual	~ControlRequest ()=default

Public Attributes
units::dimensionless::scalar_t	Output
	Proportion of VBat to output in fractional units between 0.0 and 1.0.
units::frequency::hertz_t	UpdateFreqHz {50_Hz}
	The period at which this control will update at.

Additional Inherited Members
Protected Member Functions inherited from ctre::phoenix6::controls::ControlRequest
	ControlRequest (ControlRequest const &)=default
	ControlRequest (ControlRequest &&)=default
ControlRequest &	operator= (ControlRequest const &)=default
ControlRequest &	operator= (ControlRequest &&)=default
Protected Attributes inherited from ctre::phoenix6::controls::ControlRequest
std::string	name

Detailed Description

Modulates the CANdle VBat output to the specified duty cycle.

This can be used to control a single-color LED strip.

Note that configs::CANdleFeaturesConfigs::VBatOutputMode must be set to signals::VBatOutputModeValue::Modulated.

Constructor & Destructor Documentation

ModulateVBatOut()

ctre::phoenix6::controls::ModulateVBatOut::ModulateVBatOut ( units::dimensionless::scalar_t Output )

inline

Modulates the CANdle VBat output to the specified duty cycle.

This can be used to control a single-color LED strip.

Note that configs::CANdleFeaturesConfigs::VBatOutputMode must be set to signals::VBatOutputModeValue::Modulated.

Parameters

Output

Proportion of VBat to output in fractional units between 0.0 and 1.0.

Member Function Documentation

GetControlInfo()

std::map< std::string, std::string > ctre::phoenix6::controls::ModulateVBatOut::GetControlInfo ( ) const

inlineoverridevirtual

Gets information about this control request.

Returns

Map of control parameter names and corresponding applied values

Implements ctre::phoenix6::controls::ControlRequest.

ToString()

std::string ctre::phoenix6::controls::ModulateVBatOut::ToString ( ) const

inlineoverridevirtual

Returns a string representation of the object.

Returns

a string representation of the object.

Implements ctre::phoenix6::controls::ControlRequest.

WithOutput()

ModulateVBatOut & ctre::phoenix6::controls::ModulateVBatOut::WithOutput ( units::dimensionless::scalar_t newOutput )

inline

Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.

Proportion of VBat to output in fractional units between 0.0 and 1.0.

• Units: fractional

Parameters

newOutput

Parameter to modify

Returns

Itself

WithUpdateFreqHz()

ModulateVBatOut & ctre::phoenix6::controls::ModulateVBatOut::WithUpdateFreqHz ( units::frequency::hertz_t newUpdateFreqHz )

inline

Sets the period at which this control will update at.

This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

Parameters

newUpdateFreqHz

Parameter to modify

Returns

Itself

Member Data Documentation

Output

units::dimensionless::scalar_t ctre::phoenix6::controls::ModulateVBatOut::Output

Proportion of VBat to output in fractional units between 0.0 and 1.0.

• Units: fractional

UpdateFreqHz

units::frequency::hertz_t ctre::phoenix6::controls::ModulateVBatOut::UpdateFreqHz {50_Hz}

The period at which this control will update at.

This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

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

• ctre/phoenix6/controls/ModulateVBatOut.hpp