Package com.ctre.phoenix6.configs

Class ClosedLoopGeneralConfigs

java.lang.Object

com.ctre.phoenix6.configs.ClosedLoopGeneralConfigs

All Implemented Interfaces:

ParentConfiguration, ISerializable

public class ClosedLoopGeneralConfigs
extends Object
implements ParentConfiguration

Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features.

Field Summary

Fields

Modifier and Type	Field	Description
boolean	ContinuousWrap	Wrap position error within [-0.5,+0.5) mechanism rotations.

Constructor Summary

Constructors

Constructor	Description
ClosedLoopGeneralConfigs()

Method Summary

Modifier and Type	Method	Description
StatusCode	deserialize(String to_deserialize)
String	serialize()
String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

ContinuousWrap

public boolean ContinuousWrap

Wrap position error within [-0.5,+0.5) mechanism rotations. Typically used for continuous position closed-loops like swerve azimuth.

This uses the mechanism rotation value. If there is a gear ratio between the sensor and the mechanism, make sure to apply a SensorToMechanismRatio so the closed loop operates on the full rotation.

• Default Value: False

Constructor Details

ClosedLoopGeneralConfigs

public ClosedLoopGeneralConfigs()

Method Details

toString

public String toString()

Overrides:

toString in class Object

deserialize

public StatusCode deserialize(String to_deserialize)

Specified by:

deserialize in interface ParentConfiguration

serialize

public String serialize()

Specified by:

serialize in interface ISerializable