Package com.ctre.phoenix6.configs

Class MotorOutputConfigs

java.lang.Object

com.ctre.phoenix6.configs.MotorOutputConfigs

All Implemented Interfaces:

ParentConfiguration, ISerializable

public class MotorOutputConfigs
extends Object
implements ParentConfiguration

Configs that directly affect motor output.

Includes motor invert, neutral mode, and other features related to motor output.

Field Summary

Fields

Modifier and Type	Field	Description
double	DutyCycleNeutralDeadband	Configures the output deadband duty cycle during duty cycle and voltage based control modes.
InvertedValue	Inverted	Invert state of the device.
NeutralModeValue	NeutralMode	The state of the motor controller bridge when output is neutral or disabled.
double	PeakForwardDutyCycle	Maximum (forward) output during duty cycle based control modes.
double	PeakReverseDutyCycle	Minimum (reverse) output during duty cycle based control modes.

Constructor Summary

Constructors

Constructor	Description
MotorOutputConfigs()

Method Summary

Modifier and Type	Method	Description
StatusCode	deserialize(String to_deserialize)
String	serialize()
String	toString()
MotorOutputConfigs	withDutyCycleNeutralDeadband(double newDutyCycleNeutralDeadband)	Modifies this configuration's DutyCycleNeutralDeadband parameter and returns itself for method-chaining and easier to use config API.
MotorOutputConfigs	withInverted(InvertedValue newInverted)	Modifies this configuration's Inverted parameter and returns itself for method-chaining and easier to use config API.
MotorOutputConfigs	withNeutralMode(NeutralModeValue newNeutralMode)	Modifies this configuration's NeutralMode parameter and returns itself for method-chaining and easier to use config API.
MotorOutputConfigs	withPeakForwardDutyCycle(double newPeakForwardDutyCycle)	Modifies this configuration's PeakForwardDutyCycle parameter and returns itself for method-chaining and easier to use config API.
MotorOutputConfigs	withPeakReverseDutyCycle(double newPeakReverseDutyCycle)	Modifies this configuration's PeakReverseDutyCycle 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

Inverted

public InvertedValue Inverted

Invert state of the device.

NeutralMode

public NeutralModeValue NeutralMode

The state of the motor controller bridge when output is neutral or disabled.

DutyCycleNeutralDeadband

public double DutyCycleNeutralDeadband

Configures the output deadband duty cycle during duty cycle and voltage based control modes.

• Minimum Value: 0.0
• Maximum Value: 0.25
• Default Value: 0
• Units: fractional

PeakForwardDutyCycle

public double PeakForwardDutyCycle

Maximum (forward) output during duty cycle based control modes.

• Minimum Value: -1.0
• Maximum Value: 1.0
• Default Value: 1
• Units: fractional

PeakReverseDutyCycle

public double PeakReverseDutyCycle

Minimum (reverse) output during duty cycle based control modes.

• Minimum Value: -1.0
• Maximum Value: 1.0
• Default Value: -1
• Units: fractional

Constructor Details

MotorOutputConfigs

public MotorOutputConfigs()

Method Details

withInverted

public MotorOutputConfigs withInverted(InvertedValue newInverted)

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

Invert state of the device.

Parameters:

newInverted - Parameter to modify

Returns:

Itself

withNeutralMode

public MotorOutputConfigs withNeutralMode(NeutralModeValue newNeutralMode)

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

The state of the motor controller bridge when output is neutral or disabled.

Parameters:

newNeutralMode - Parameter to modify

Returns:

Itself

withDutyCycleNeutralDeadband

public MotorOutputConfigs withDutyCycleNeutralDeadband(double newDutyCycleNeutralDeadband)

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

Configures the output deadband duty cycle during duty cycle and voltage based control modes.

• Minimum Value: 0.0
• Maximum Value: 0.25
• Default Value: 0
• Units: fractional

Parameters:

newDutyCycleNeutralDeadband - Parameter to modify

Returns:

Itself

withPeakForwardDutyCycle

public MotorOutputConfigs withPeakForwardDutyCycle(double newPeakForwardDutyCycle)

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

Maximum (forward) output during duty cycle based control modes.

• Minimum Value: -1.0
• Maximum Value: 1.0
• Default Value: 1
• Units: fractional

Parameters:

newPeakForwardDutyCycle - Parameter to modify

Returns:

Itself

withPeakReverseDutyCycle

public MotorOutputConfigs withPeakReverseDutyCycle(double newPeakReverseDutyCycle)

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

Minimum (reverse) output during duty cycle based control modes.

• Minimum Value: -1.0
• Maximum Value: 1.0
• Default Value: -1
• Units: fractional

Parameters:

newPeakReverseDutyCycle - 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