Package com.ctre.phoenix6.configs

Class PWM2Configs

java.lang.Object
com.ctre.phoenix6.configs.PWM2Configs
All Implemented Interfaces:
ParentConfiguration, ISerializable
public class PWM2Configs extends Object implements ParentConfiguration
Configs related to CANdi's PWM interface on the Signal 2 input (S2IN)

All the configs related to the PWM interface for CANdi on S1, including absolute sensor offset, absolute sensor discontinuity point and sensor direction.

  • Field Details

    • AbsoluteSensorOffset

      public double AbsoluteSensorOffset
      The offset applied to the PWM sensor.

      This can be used to zero the sensor position in applications where the sensor is 1:1 with the mechanism.

      • Minimum Value: -1
      • Maximum Value: 1
      • Default Value: 0.0
      • Units: rotations

    • AbsoluteSensorDiscontinuityPoint

      public double AbsoluteSensorDiscontinuityPoint
      The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position in the range [x-1, x).
      • Setting this to 1 makes the absolute position unsigned [0, 1)
      • Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
      • Setting this to 0 makes the absolute position always negative [-1, 0)
      Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

      For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

      On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

      • Minimum Value: 0.0
      • Maximum Value: 1.0
      • Default Value: 0.5
      • Units: rotations

    • SensorDirection

      public boolean SensorDirection
      Direction of the PWM sensor to determine positive rotation. Invert this so that forward motion on the mechanism results in an increase in PWM position.
      • Default Value: False

  • Constructor Details

  • Method Details

    • withAbsoluteSensorOffset

      public PWM2Configs withAbsoluteSensorOffset(double newAbsoluteSensorOffset)
      Modifies this configuration's AbsoluteSensorOffset parameter and returns itself for method-chaining and easier to use config API.

      The offset applied to the PWM sensor.

      This can be used to zero the sensor position in applications where the sensor is 1:1 with the mechanism.

      • Minimum Value: -1
      • Maximum Value: 1
      • Default Value: 0.0
      • Units: rotations
      Parameters:
      newAbsoluteSensorOffset - Parameter to modify
      Returns:
      Itself

    • withAbsoluteSensorOffset

      public PWM2Configs withAbsoluteSensorOffset(Angle newAbsoluteSensorOffset)
      Modifies this configuration's AbsoluteSensorOffset parameter and returns itself for method-chaining and easier to use config API.

      The offset applied to the PWM sensor.

      This can be used to zero the sensor position in applications where the sensor is 1:1 with the mechanism.

      • Minimum Value: -1
      • Maximum Value: 1
      • Default Value: 0.0
      • Units: rotations
      Parameters:
      newAbsoluteSensorOffset - Parameter to modify
      Returns:
      Itself

    • getAbsoluteSensorOffsetMeasure

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

      The offset applied to the PWM sensor.

      This can be used to zero the sensor position in applications where the sensor is 1:1 with the mechanism.

      • Minimum Value: -1
      • Maximum Value: 1
      • Default Value: 0.0
      • Units: rotations
      Returns:
      AbsoluteSensorOffset

    • withAbsoluteSensorDiscontinuityPoint

      public PWM2Configs withAbsoluteSensorDiscontinuityPoint(double newAbsoluteSensorDiscontinuityPoint)
      Modifies this configuration's AbsoluteSensorDiscontinuityPoint parameter and returns itself for method-chaining and easier to use config API.

      The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position in the range [x-1, x).

      • Setting this to 1 makes the absolute position unsigned [0, 1)
      • Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
      • Setting this to 0 makes the absolute position always negative [-1, 0)
      Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

      For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

      On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

      • Minimum Value: 0.0
      • Maximum Value: 1.0
      • Default Value: 0.5
      • Units: rotations
      Parameters:
      newAbsoluteSensorDiscontinuityPoint - Parameter to modify
      Returns:
      Itself

    • withAbsoluteSensorDiscontinuityPoint

      public PWM2Configs withAbsoluteSensorDiscontinuityPoint(Angle newAbsoluteSensorDiscontinuityPoint)
      Modifies this configuration's AbsoluteSensorDiscontinuityPoint parameter and returns itself for method-chaining and easier to use config API.

      The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position in the range [x-1, x).

      • Setting this to 1 makes the absolute position unsigned [0, 1)
      • Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
      • Setting this to 0 makes the absolute position always negative [-1, 0)
      Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

      For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

      On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

      • Minimum Value: 0.0
      • Maximum Value: 1.0
      • Default Value: 0.5
      • Units: rotations
      Parameters:
      newAbsoluteSensorDiscontinuityPoint - Parameter to modify
      Returns:
      Itself

    • getAbsoluteSensorDiscontinuityPointMeasure

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

      The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position in the range [x-1, x).

      • Setting this to 1 makes the absolute position unsigned [0, 1)
      • Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
      • Setting this to 0 makes the absolute position always negative [-1, 0)
      Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

      For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

      On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

      • Minimum Value: 0.0
      • Maximum Value: 1.0
      • Default Value: 0.5
      • Units: rotations
      Returns:
      AbsoluteSensorDiscontinuityPoint

    • withSensorDirection

      public PWM2Configs withSensorDirection(boolean newSensorDirection)
      Modifies this configuration's SensorDirection parameter and returns itself for method-chaining and easier to use config API.

      Direction of the PWM sensor to determine positive rotation. Invert this so that forward motion on the mechanism results in an increase in PWM position.

      • Default Value: False
      Parameters:
      newSensorDirection - 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