CTRE Phoenix 6 C++ 24.2.0
ctre::phoenix6::signals::GravityTypeValue Class Reference

Gravity Feedforward Type. More...

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

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

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 Type.

This determines the type of the gravity feedforward. 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 feedforward is dependent on the angular position of the mechanism, such as an arm. The gravity feedforward 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

◆ 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

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