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 Summary

Fields

Modifier and Type	Field	Description
double	PeakDifferentialDutyCycle	Maximum differential output during duty cycle based differential control modes.
double	PeakDifferentialTorqueCurrent	Maximum differential output during torque current based differential control modes.
double	PeakDifferentialVoltage	Maximum differential output during voltage based differential control modes.

Constructor Summary

Constructors

Constructor	Description
DifferentialConstantsConfigs()

Method Summary

Modifier and Type	Method	Description
StatusCode	deserialize(String to_deserialize)
String	serialize()
String	toString()
DifferentialConstantsConfigs	withPeakDifferentialDutyCycle(double newPeakDifferentialDutyCycle)	Modifies this configuration's PeakDifferentialDutyCycle parameter and returns itself for method-chaining and easier to use config API.
DifferentialConstantsConfigs	withPeakDifferentialTorqueCurrent(double newPeakDifferentialTorqueCurrent)	Modifies this configuration's PeakDifferentialTorqueCurrent parameter and returns itself for method-chaining and easier to use config API.
DifferentialConstantsConfigs	withPeakDifferentialVoltage(double newPeakDifferentialVoltage)	Modifies this configuration's PeakDifferentialVoltage 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

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

DifferentialConstantsConfigs

public DifferentialConstantsConfigs()

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

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

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