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()
ClosedLoopGeneralConfigs	withContinuousWrap(boolean newContinuousWrap)	Modifies this configuration's ContinuousWrap parameter and returns itself for method-chaining and easier to use config API.

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

withContinuousWrap

public ClosedLoopGeneralConfigs withContinuousWrap(boolean newContinuousWrap)

Modifies this configuration's ContinuousWrap parameter and returns itself for method-chaining and easier to use config API.

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

Parameters:

newContinuousWrap - Parameter to modify

Returns:

Itself

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