Applies full neutral-brake by shorting motor leads together. More...

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

Inheritance diagram for ctre::phoenix6::controls::StaticBrake:

Public Member Functions
	StaticBrake ()
	Applies full neutral-brake by shorting motor leads together. More...

StaticBrake &	WithUpdateFreqHz (units::frequency::hertz_t newUpdateFreqHz)
	Sets the period at which this control will update at. More...

std::string	ToString () const override
	Returns a string representation of the object. More...

std::map< std::string, std::string >	GetControlInfo () const override
	Gets information about this control request. More...

Public Member Functions inherited from ctre::phoenix6::controls::ControlRequest
	ControlRequest (std::string name)
	Constructs a new Control Request with the given name. More...

std::string const &	GetName () const

virtual std::map< std::string, std::string >	GetControlInfo () const =0
	Gets information about this control request. More...

virtual	~ControlRequest ()=default

virtual std::string	ToString () const =0

Public Attributes
units::frequency::hertz_t	UpdateFreqHz {20_Hz}
	The period at which this control will update at. More...

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

Applies full neutral-brake by shorting motor leads together.

Constructor & Destructor Documentation

◆ StaticBrake()

ctre::phoenix6::controls::StaticBrake::StaticBrake ( )

inline

Applies full neutral-brake by shorting motor leads together.

Member Function Documentation

◆ GetControlInfo()

std::map< std::string, std::string > ctre::phoenix6::controls::StaticBrake::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::StaticBrake::ToString ( ) const

inlineoverridevirtual

Returns a string representation of the object.

Returns: a string representation of the object.

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

◆ WithUpdateFreqHz()

StaticBrake & ctre::phoenix6::controls::StaticBrake::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

◆ UpdateFreqHz

units::frequency::hertz_t ctre::phoenix6::controls::StaticBrake::UpdateFreqHz {20_Hz}

The period at which this control will update at.