com.ctre.phoenix6.configs.CurrentLimitsConfigs

All Implemented Interfaces:: ParentConfiguration, ISerializable

public class CurrentLimitsConfigs
extends Object
implements ParentConfiguration

Configs that directly affect current limiting features.

Contains the supply/stator current limit thresholds and whether to enable them.

Field Summary

Fields
Modifier and Type	Field	Description
`double`	`StatorCurrentLimit`	The amount of current allowed in the motor (motoring and regen current).
`boolean`	`StatorCurrentLimitEnable`	Enable motor stator current limiting.
`double`	`SupplyCurrentLimit`	The amount of supply current allowed.
`boolean`	`SupplyCurrentLimitEnable`	Enable motor supply current limiting.
`double`	`SupplyCurrentThreshold`	Delay supply current limiting until current exceeds this threshold for longer than SupplyTimeThreshold.
`double`	`SupplyTimeThreshold`	Allows unlimited current for a period of time before current limiting occurs.

Constructor Summary

Constructors

Constructor Description

CurrentLimitsConfigs()

Method Summary

Modifier and Type	Method	Description
`StatusCode`	`deserialize(String to_deserialize)`
`String`	`serialize()`
`String`	`toString()`
`CurrentLimitsConfigs`	`withStatorCurrentLimit(double newStatorCurrentLimit)`	Modifies this configuration's StatorCurrentLimit parameter and returns itself for method-chaining and easier to use config API.
`CurrentLimitsConfigs`	`withStatorCurrentLimitEnable(boolean newStatorCurrentLimitEnable)`	Modifies this configuration's StatorCurrentLimitEnable parameter and returns itself for method-chaining and easier to use config API.
`CurrentLimitsConfigs`	`withSupplyCurrentLimit(double newSupplyCurrentLimit)`	Modifies this configuration's SupplyCurrentLimit parameter and returns itself for method-chaining and easier to use config API.
`CurrentLimitsConfigs`	`withSupplyCurrentLimitEnable(boolean newSupplyCurrentLimitEnable)`	Modifies this configuration's SupplyCurrentLimitEnable parameter and returns itself for method-chaining and easier to use config API.
`CurrentLimitsConfigs`	`withSupplyCurrentThreshold(double newSupplyCurrentThreshold)`	Modifies this configuration's SupplyCurrentThreshold parameter and returns itself for method-chaining and easier to use config API.
`CurrentLimitsConfigs`	`withSupplyTimeThreshold(double newSupplyTimeThreshold)`	Modifies this configuration's SupplyTimeThreshold 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
- StatorCurrentLimit
  
  public double StatorCurrentLimit
  The amount of current allowed in the motor (motoring and regen current). Note this requires StatorCurrentLimitEnable to be true.
  This is only applicable for non-torque current control modes. For torque current control, set the PeakForwardTorqueCurrent and PeakReverseTorqueCurrent in TorqueCurrentConfigs instead.
  Stator current is directly proportional to torque, so this limit can be used to restrict the torque output of the motor, such as preventing wheel slip for a drivetrain. Additionally, stator current limits can prevent brownouts during acceleration; supply current will never exceed the stator current limit and is often significantly lower than stator current.
  A reasonable starting point for a stator current limit is 120 A, with values commonly ranging from 80-160 A. Mechanisms with a hard stop may need a smaller limit to reduce the torque applied when running into the hard stop.
  
  Minimum Value: 0.0
  Maximum Value: 800.0
  Default Value: 0
  Units: A
- StatorCurrentLimitEnable
  
  public boolean StatorCurrentLimitEnable
  Enable motor stator current limiting.
  
  Default Value: False
- SupplyCurrentLimit
  
  public double SupplyCurrentLimit
  The amount of supply current allowed. Note this requires SupplyCurrentLimitEnable to be true. Use SupplyCurrentThreshold and SupplyTimeThreshold to allow brief periods of high-current before limiting occurs.
  This is only applicable for non-torque current control modes. For torque current control, set the PeakForwardTorqueCurrent and PeakReverseTorqueCurrent in TorqueCurrentConfigs instead.
  Supply current is the current drawn from the battery, so this limit can be used to prevent breaker trips and improve battery longevity. Additionally, in the rare case where the robot experiences brownouts despite configuring stator current limits, a supply current limit can further help avoid brownouts. However, such brownouts are most commonly caused by a bad battery or poor power wiring.
  A reasonable starting point for a supply current limit is 60 A with a threshold of 80 A for 0.1 seconds. Supply current limits commonly range from 20-80 A depending on the breaker used.
  
  Minimum Value: 0.0
  Maximum Value: 800.0
  Default Value: 0
  Units: A
- SupplyCurrentLimitEnable
  
  public boolean SupplyCurrentLimitEnable
  Enable motor supply current limiting.
  
  Default Value: False
- SupplyCurrentThreshold
  
  public double SupplyCurrentThreshold
  Delay supply current limiting until current exceeds this threshold for longer than SupplyTimeThreshold. This allows current draws above SupplyCurrentLimit for a fixed period of time. This has no effect if SupplyCurrentLimit is greater than this value.
  
  Minimum Value: 0.0
  Maximum Value: 511
  Default Value: 0
  Units: A
- SupplyTimeThreshold
  
  public double SupplyTimeThreshold
  Allows unlimited current for a period of time before current limiting occurs. Current threshold is the maximum of SupplyCurrentThreshold and SupplyCurrentLimit.
  
  Minimum Value: 0.0
  Maximum Value: 1.275
  Default Value: 0
  Units: sec
Constructor Details
- CurrentLimitsConfigs
  
  public CurrentLimitsConfigs()
Method Details
- withStatorCurrentLimit
  
  public CurrentLimitsConfigs withStatorCurrentLimit(double newStatorCurrentLimit)
  Modifies this configuration's StatorCurrentLimit parameter and returns itself for method-chaining and easier to use config API.
  The amount of current allowed in the motor (motoring and regen current). Note this requires StatorCurrentLimitEnable to be true.
  This is only applicable for non-torque current control modes. For torque current control, set the PeakForwardTorqueCurrent and PeakReverseTorqueCurrent in TorqueCurrentConfigs instead.
  Stator current is directly proportional to torque, so this limit can be used to restrict the torque output of the motor, such as preventing wheel slip for a drivetrain. Additionally, stator current limits can prevent brownouts during acceleration; supply current will never exceed the stator current limit and is often significantly lower than stator current.
  A reasonable starting point for a stator current limit is 120 A, with values commonly ranging from 80-160 A. Mechanisms with a hard stop may need a smaller limit to reduce the torque applied when running into the hard stop.
  
  Minimum Value: 0.0
  Maximum Value: 800.0
  Default Value: 0
  Units: A
  Parameters:
  
  newStatorCurrentLimit - Parameter to modify
  
  Returns:
  
  Itself
- withStatorCurrentLimitEnable
  
  public CurrentLimitsConfigs withStatorCurrentLimitEnable(boolean newStatorCurrentLimitEnable)
  Modifies this configuration's StatorCurrentLimitEnable parameter and returns itself for method-chaining and easier to use config API.
  Enable motor stator current limiting.
  
  Default Value: False
  Parameters:
  
  newStatorCurrentLimitEnable - Parameter to modify
  
  Returns:
  
  Itself
- withSupplyCurrentLimit
  
  public CurrentLimitsConfigs withSupplyCurrentLimit(double newSupplyCurrentLimit)
  Modifies this configuration's SupplyCurrentLimit parameter and returns itself for method-chaining and easier to use config API.
  The amount of supply current allowed. Note this requires SupplyCurrentLimitEnable to be true. Use SupplyCurrentThreshold and SupplyTimeThreshold to allow brief periods of high-current before limiting occurs.
  This is only applicable for non-torque current control modes. For torque current control, set the PeakForwardTorqueCurrent and PeakReverseTorqueCurrent in TorqueCurrentConfigs instead.
  Supply current is the current drawn from the battery, so this limit can be used to prevent breaker trips and improve battery longevity. Additionally, in the rare case where the robot experiences brownouts despite configuring stator current limits, a supply current limit can further help avoid brownouts. However, such brownouts are most commonly caused by a bad battery or poor power wiring.
  A reasonable starting point for a supply current limit is 60 A with a threshold of 80 A for 0.1 seconds. Supply current limits commonly range from 20-80 A depending on the breaker used.
  
  Minimum Value: 0.0
  Maximum Value: 800.0
  Default Value: 0
  Units: A
  Parameters:
  
  newSupplyCurrentLimit - Parameter to modify
  
  Returns:
  
  Itself
- withSupplyCurrentLimitEnable
  
  public CurrentLimitsConfigs withSupplyCurrentLimitEnable(boolean newSupplyCurrentLimitEnable)
  Modifies this configuration's SupplyCurrentLimitEnable parameter and returns itself for method-chaining and easier to use config API.
  Enable motor supply current limiting.
  
  Default Value: False
  Parameters:
  
  newSupplyCurrentLimitEnable - Parameter to modify
  
  Returns:
  
  Itself
- withSupplyCurrentThreshold
  
  public CurrentLimitsConfigs withSupplyCurrentThreshold(double newSupplyCurrentThreshold)
  Modifies this configuration's SupplyCurrentThreshold parameter and returns itself for method-chaining and easier to use config API.
  Delay supply current limiting until current exceeds this threshold for longer than SupplyTimeThreshold. This allows current draws above SupplyCurrentLimit for a fixed period of time. This has no effect if SupplyCurrentLimit is greater than this value.
  
  Minimum Value: 0.0
  Maximum Value: 511
  Default Value: 0
  Units: A
  Parameters:
  
  newSupplyCurrentThreshold - Parameter to modify
  
  Returns:
  
  Itself
- withSupplyTimeThreshold
  
  public CurrentLimitsConfigs withSupplyTimeThreshold(double newSupplyTimeThreshold)
  Modifies this configuration's SupplyTimeThreshold parameter and returns itself for method-chaining and easier to use config API.
  Allows unlimited current for a period of time before current limiting occurs. Current threshold is the maximum of SupplyCurrentThreshold and SupplyCurrentLimit.
  
  Minimum Value: 0.0
  Maximum Value: 1.275
  Default Value: 0
  Units: sec
  Parameters:
  
  newSupplyTimeThreshold - 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

Class CurrentLimitsConfigs

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Details

Constructor Details

Method Details