CTRE Phoenix 6 C++ 25.2.2
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Static Feedforward Sign during position closed loop. More...
#include <ctre/phoenix6/signals/SpnEnums.hpp>
Public Member Functions | |
constexpr | StaticFeedforwardSignValue (int value) |
constexpr | StaticFeedforwardSignValue () |
constexpr bool | operator== (StaticFeedforwardSignValue data) const |
constexpr bool | operator== (int data) const |
constexpr bool | operator!= (StaticFeedforwardSignValue data) const |
constexpr bool | operator!= (int data) const |
constexpr bool | operator< (StaticFeedforwardSignValue data) const |
constexpr bool | operator< (int data) const |
std::string | ToString () const |
Gets the string representation of this enum. | |
std::string | Serialize () const |
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Public Attributes | |
int | value |
Static Public Attributes | |
static constexpr int | UseVelocitySign = 0 |
Use the velocity reference sign. | |
static constexpr int | UseClosedLoopSign = 1 |
Use the sign of closed loop error. | |
Friends | |
std::ostream & | operator<< (std::ostream &os, StaticFeedforwardSignValue data) |
Static Feedforward Sign during position closed loop.
This determines the sign of the applied kS during position closed-loop modes. The default behavior uses the velocity reference sign. This works well with velocity closed loop, Motion MagicĀ® controls, and position closed loop when velocity reference is specified (motion profiling). However, when using position closed loop with zero velocity reference (no motion profiling), the application may want to apply static feedforward based on the sign of closed loop error instead. When doing so, we recommend using the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.
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inlinevirtual |
Implements ctre::phoenix6::ISerializable.
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Gets the string representation of this enum.
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staticconstexpr |
Use the sign of closed loop error.
This is useful when using position closed loop with zero velocity reference (no motion profiling). We recommend the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.
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staticconstexpr |
Use the velocity reference sign.
This works well with velocity closed loop, Motion MagicĀ® controls, and position closed loop when velocity reference is specified (motion profiling).
int ctre::phoenix6::signals::StaticFeedforwardSignValue::value |