public class Slot0Configstype Slot0Configs = class end| Slot0Configs | Initializes a new instance of the Slot0Configs class |
| Deserialize | Deserialize string and put values into this object |
| Equals | Determines whether the specified object is equal to the current object. (Inherited from Object) |
| Finalize | Allows an object to try to free resources and perform other cleanup operations before it is reclaimed by garbage collection. (Inherited from Object) |
| GetHashCode | Serves as the default hash function. (Inherited from Object) |
| GetType | Gets the Type of the current instance. (Inherited from Object) |
| MemberwiseClone | Creates a shallow copy of the current Object. (Inherited from Object) |
| Serialize | Serialize this object into a string |
| ToString |
Provides the string representation
of this object
(Overrides ObjectToString) |
| GravityType | 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. |
| kA |
Acceleration Feedforward Gain
The units for this gain is dependent on the control mode. Since
this gain is multiplied by the requested acceleration, the units
should be defined as units of output per unit of requested input
acceleration. For example, when controlling velocity using a duty
cycle closed loop, the units for the acceleration feedfoward gain
will be duty cycle per requested rps/s, or 1/(rps/s).
|
| kD |
Derivative Gain
The units for this gain is dependent on the control mode. Since
this gain is multiplied by the derivative of error in the input
with respect to time (in units of seconds), the units should be
defined as units of output per unit of the differentiated input
error. For example, when controlling velocity using a duty cycle
closed loop, the derivative of velocity with respect to time is
rps/s, which is acceleration. Therefore, the units for the
derivative gain will be duty cycle per unit of acceleration error,
or 1/(rps/s).
|
| kG |
Gravity Feedforward Gain
This is added to the closed loop output. The sign is determined by
the type of gravity feedforward. The unit for this constant is
dependent on the control mode, typically fractional duty cycle,
voltage, or torque current.
|
| kI |
Integral Gain
The units for this gain is dependent on the control mode. Since
this gain is multiplied by error in the input integrated over time
(in units of seconds), the units should be defined as units of
output per unit of integrated input error. For example, when
controlling velocity using a duty cycle closed loop, integrating
velocity over time results in rps * s = rotations. Therefore, the
units for the integral gain will be duty cycle per rotation of
accumulated error, or 1/rot.
|
| kP |
Proportional Gain
The units for this gain is dependent on the control mode. Since
this gain is multiplied by error in the input, the units should be
defined as units of output per unit of input error. For example,
when controlling velocity using a duty cycle closed loop, the
units for the proportional gain will be duty cycle per rps of
error, or 1/rps.
|
| kS |
Static Feedforward Gain
This is added to the closed loop output. The sign is determined by
target velocity. The unit for this constant is dependent on the
control mode, typically fractional duty cycle, voltage, or torque
current.
|
| kV |
Velocity Feedforward Gain
The units for this gain is dependent on the control mode. Since
this gain is multiplied by the requested velocity, the units
should be defined as units of output per unit of requested input
velocity. For example, when controlling velocity using a duty
cycle closed loop, the units for the velocity feedfoward gain will
be duty cycle per requested rps, or 1/rps.
|