GravityTypeValue Enumeration
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.
Namespace: CTRE.Phoenix6.SignalsAssembly: Phoenix6 (in Phoenix6.dll) Version: 1.0.0
public enum GravityTypeValue
| Elevator_Static | 0 | |
| Arm_Cosine | 1 | |