ctre::phoenix6::signals::GravityTypeValue Class Reference

Gravity Feedforward/Feedback Type. More...

#include <ctre/phoenix6/signals/SpnEnums.hpp>

Inheritance diagram for ctre::phoenix6::signals::GravityTypeValue:

Public Member Functions
	GravityTypeValue (int value)
	GravityTypeValue ()
std::string	ToString () const
	Gets the string representation of this enum. More...
std::string	Serialize () const
bool	operator== (const GravityTypeValue &data) const
bool	operator== (int data) const
bool	operator< (const GravityTypeValue &data) const
bool	operator< (int data) const
virtual std::string	Serialize () const =0

Public Attributes
int	value

Static Public Attributes
static constexpr int	Elevator_Static = 0
static constexpr int	Arm_Cosine = 1

Friends
std::ostream &	operator<< (std::ostream &os, const GravityTypeValue &data)

Detailed Description

Gravity Feedforward/Feedback Type.

This determines the type of the gravity feedforward/feedback.

     Choose Elevator_Static for systems where the gravity feedforward is
     constant, such as an elevator. The gravity feedforward output will
     always have the same sign.

     Choose Arm_Cosine for systems where the gravity feedback is
     dependent on the angular position of the mechanism, such as an arm.
     The gravity feedback output will vary depending on the mechanism
     angular position. Note that the sensor offset and ratios must be
     configured so that the sensor reports a position of 0 when the
     mechanism is horizonal (parallel to the ground), and the reported
     sensor position is 1:1 with the mechanism.

Constructor & Destructor Documentation

GravityTypeValue() [1/2]

ctre::phoenix6::signals::GravityTypeValue::GravityTypeValue ( int  value )

inline

GravityTypeValue() [2/2]

ctre::phoenix6::signals::GravityTypeValue::GravityTypeValue ( )

inline

Member Function Documentation

operator<() [1/2]

bool ctre::phoenix6::signals::GravityTypeValue::operator< ( const GravityTypeValue &  data ) const

inline

operator<() [2/2]

bool ctre::phoenix6::signals::GravityTypeValue::operator< ( int  data ) const

inline

operator==() [1/2]

bool ctre::phoenix6::signals::GravityTypeValue::operator== ( const GravityTypeValue &  data ) const

inline

operator==() [2/2]

bool ctre::phoenix6::signals::GravityTypeValue::operator== ( int  data ) const

inline

Serialize()

std::string ctre::phoenix6::signals::GravityTypeValue::Serialize ( ) const

inlinevirtual

Implements ctre::phoenix6::ISerializable.

ToString()

std::string ctre::phoenix6::signals::GravityTypeValue::ToString ( ) const

inline

Gets the string representation of this enum.

Returns

String representation of this enum

Friends And Related Function Documentation

operator<<

std::ostream & operator<< ( std::ostream &  os, const GravityTypeValue &  data  )

friend

Member Data Documentation

Arm_Cosine

constexpr int ctre::phoenix6::signals::GravityTypeValue::Arm_Cosine = 1

staticconstexpr

Elevator_Static

constexpr int ctre::phoenix6::signals::GravityTypeValue::Elevator_Static = 0

staticconstexpr

value

int ctre::phoenix6::signals::GravityTypeValue::value

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

• ctre/phoenix6/signals/SpnEnums.hpp