ctre::phoenix6::signals::StaticFeedforwardSignValue Class Reference

Static Feedforward Sign during position closed loop. More...

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

Inheritance diagram for ctre::phoenix6::signals::StaticFeedforwardSignValue:

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

Public Attributes
int	value

Static Public Attributes
static constexpr int	UseVelocitySign = 0
static constexpr int	UseClosedLoopSign = 1

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

Detailed Description

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 Magic® 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 closed loop error sign instead. When doing so, we recommend the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.

Constructor & Destructor Documentation

StaticFeedforwardSignValue() [1/2]

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

inline

StaticFeedforwardSignValue() [2/2]

ctre::phoenix6::signals::StaticFeedforwardSignValue::StaticFeedforwardSignValue ( )

inline

Member Function Documentation

operator<() [1/2]

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

inline

operator<() [2/2]

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

inline

operator==() [1/2]

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

inline

operator==() [2/2]

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

inline

Serialize()

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

inlinevirtual

Implements ctre::phoenix6::ISerializable.

ToString()

std::string ctre::phoenix6::signals::StaticFeedforwardSignValue::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 StaticFeedforwardSignValue &  data  )

friend

Member Data Documentation

UseClosedLoopSign

constexpr int ctre::phoenix6::signals::StaticFeedforwardSignValue::UseClosedLoopSign = 1

staticconstexpr

UseVelocitySign

constexpr int ctre::phoenix6::signals::StaticFeedforwardSignValue::UseVelocitySign = 0

staticconstexpr

value

int ctre::phoenix6::signals::StaticFeedforwardSignValue::value

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

• ctre/phoenix6/signals/SpnEnums.hpp