Package com.ctre.phoenix6.configs

Class DifferentialConstantsConfigs

java.lang.Object
com.ctre.phoenix6.configs.DifferentialConstantsConfigs
All Implemented Interfaces:
ParentConfiguration, ISerializable
public class DifferentialConstantsConfigs extends Object implements ParentConfiguration
Configs related to constants used for differential control of a mechanism.

Includes the differential peak outputs.

  • Field Details

    • PeakDifferentialDutyCycle

      public double PeakDifferentialDutyCycle
      Maximum differential output during duty cycle based differential control modes.
      • Minimum Value: 0.0
      • Maximum Value: 2.0
      • Default Value: 2
      • Units: fractional

    • PeakDifferentialVoltage

      public double PeakDifferentialVoltage
      Maximum differential output during voltage based differential control modes.
      • Minimum Value: 0.0
      • Maximum Value: 32
      • Default Value: 32
      • Units: V

    • PeakDifferentialTorqueCurrent

      public double PeakDifferentialTorqueCurrent
      Maximum differential output during torque current based differential control modes.
      • Minimum Value: 0.0
      • Maximum Value: 1600
      • Default Value: 1600
      • Units: A

  • Constructor Details

  • Method Details

    • withPeakDifferentialDutyCycle

      public DifferentialConstantsConfigs withPeakDifferentialDutyCycle(double newPeakDifferentialDutyCycle)
      Modifies this configuration's PeakDifferentialDutyCycle parameter and returns itself for method-chaining and easier to use config API.

      Maximum differential output during duty cycle based differential control modes.

      • Minimum Value: 0.0
      • Maximum Value: 2.0
      • Default Value: 2
      • Units: fractional
      Parameters:
      newPeakDifferentialDutyCycle - Parameter to modify
      Returns:
      Itself

    • withPeakDifferentialVoltage

      public DifferentialConstantsConfigs withPeakDifferentialVoltage(double newPeakDifferentialVoltage)
      Modifies this configuration's PeakDifferentialVoltage parameter and returns itself for method-chaining and easier to use config API.

      Maximum differential output during voltage based differential control modes.

      • Minimum Value: 0.0
      • Maximum Value: 32
      • Default Value: 32
      • Units: V
      Parameters:
      newPeakDifferentialVoltage - Parameter to modify
      Returns:
      Itself

    • withPeakDifferentialVoltage

      public DifferentialConstantsConfigs withPeakDifferentialVoltage(Voltage newPeakDifferentialVoltage)
      Modifies this configuration's PeakDifferentialVoltage parameter and returns itself for method-chaining and easier to use config API.

      Maximum differential output during voltage based differential control modes.

      • Minimum Value: 0.0
      • Maximum Value: 32
      • Default Value: 32
      • Units: V
      Parameters:
      newPeakDifferentialVoltage - Parameter to modify
      Returns:
      Itself

    • getPeakDifferentialVoltageMeasure

      public Voltage getPeakDifferentialVoltageMeasure()
      Helper method to get this configuration's PeakDifferentialVoltage parameter converted to a unit type. If not using the Java units library, PeakDifferentialVoltage can be accessed directly instead.

      Maximum differential output during voltage based differential control modes.

      • Minimum Value: 0.0
      • Maximum Value: 32
      • Default Value: 32
      • Units: V
      Returns:
      PeakDifferentialVoltage

    • withPeakDifferentialTorqueCurrent

      public DifferentialConstantsConfigs withPeakDifferentialTorqueCurrent(double newPeakDifferentialTorqueCurrent)
      Modifies this configuration's PeakDifferentialTorqueCurrent parameter and returns itself for method-chaining and easier to use config API.

      Maximum differential output during torque current based differential control modes.

      • Minimum Value: 0.0
      • Maximum Value: 1600
      • Default Value: 1600
      • Units: A
      Parameters:
      newPeakDifferentialTorqueCurrent - Parameter to modify
      Returns:
      Itself

    • withPeakDifferentialTorqueCurrent

      public DifferentialConstantsConfigs withPeakDifferentialTorqueCurrent(Current newPeakDifferentialTorqueCurrent)
      Modifies this configuration's PeakDifferentialTorqueCurrent parameter and returns itself for method-chaining and easier to use config API.

      Maximum differential output during torque current based differential control modes.

      • Minimum Value: 0.0
      • Maximum Value: 1600
      • Default Value: 1600
      • Units: A
      Parameters:
      newPeakDifferentialTorqueCurrent - Parameter to modify
      Returns:
      Itself

    • getPeakDifferentialTorqueCurrentMeasure

      public Current getPeakDifferentialTorqueCurrentMeasure()
      Helper method to get this configuration's PeakDifferentialTorqueCurrent parameter converted to a unit type. If not using the Java units library, PeakDifferentialTorqueCurrent can be accessed directly instead.

      Maximum differential output during torque current based differential control modes.

      • Minimum Value: 0.0
      • Maximum Value: 1600
      • Default Value: 1600
      • Units: A
      Returns:
      PeakDifferentialTorqueCurrent

    • 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