com.ctre.phoenix6.configs.Slot0Configs

All Implemented Interfaces:: ParentConfiguration, ISerializable

public class Slot0Configs
extends Object
implements ParentConfiguration

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Field Summary

Fields
Modifier and Type	Field	Description
`GravityTypeValue`	`GravityType`	Gravity Feedforward/Feedback Type
`double`	`kA`	Acceleration Feedforward Gain
`double`	`kD`	Derivative Gain
`double`	`kG`	Gravity Feedforward/Feedback Gain
`double`	`kI`	Integral Gain
`double`	`kP`	Proportional Gain
`double`	`kS`	Static Feedforward Gain
`double`	`kV`	Velocity Feedforward Gain
`StaticFeedforwardSignValue`	`StaticFeedforwardSign`	Static Feedforward Sign during position closed loop

Constructor Summary

Constructors

Constructor Description

Slot0Configs()

Method Summary

Modifier and Type	Method	Description
`StatusCode`	`deserialize(String to_deserialize)`
`static Slot0Configs`	`from(SlotConfigs value)`
`String`	`serialize()`
`String`	`toString()`
`Slot0Configs`	`withGravityType(GravityTypeValue newGravityType)`	Modifies this configuration's GravityType parameter and returns itself for method-chaining and easier to use config API.
`Slot0Configs`	`withKA(double newKA)`	Modifies this configuration's kA parameter and returns itself for method-chaining and easier to use config API.
`Slot0Configs`	`withKD(double newKD)`	Modifies this configuration's kD parameter and returns itself for method-chaining and easier to use config API.
`Slot0Configs`	`withKG(double newKG)`	Modifies this configuration's kG parameter and returns itself for method-chaining and easier to use config API.
`Slot0Configs`	`withKI(double newKI)`	Modifies this configuration's kI parameter and returns itself for method-chaining and easier to use config API.
`Slot0Configs`	`withKP(double newKP)`	Modifies this configuration's kP parameter and returns itself for method-chaining and easier to use config API.
`Slot0Configs`	`withKS(double newKS)`	Modifies this configuration's kS parameter and returns itself for method-chaining and easier to use config API.
`Slot0Configs`	`withKV(double newKV)`	Modifies this configuration's kV parameter and returns itself for method-chaining and easier to use config API.
`Slot0Configs`	`withStaticFeedforwardSign(StaticFeedforwardSignValue newStaticFeedforwardSign)`	Modifies this configuration's StaticFeedforwardSign 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
- kP
  
  public double kP
  Proportional Gain
  The units for this gain is dependent on the control mode. Since this gain is multiplied by error in the input, the units should be defined as units of output per unit of input error. For example, when controlling velocity using a duty cycle closed loop, the units for the proportional gain will be duty cycle per rps of error, or 1/rps.
  
  Minimum Value: 0
  Maximum Value: 3.4e+38
  Default Value: 0
  Units:
- kI
  
  public double kI
  Integral Gain
  The units for this gain is dependent on the control mode. Since this gain is multiplied by error in the input integrated over time (in units of seconds), the units should be defined as units of output per unit of integrated input error. For example, when controlling velocity using a duty cycle closed loop, integrating velocity over time results in rps * s = rotations. Therefore, the units for the integral gain will be duty cycle per rotation of accumulated error, or 1/rot.
  
  Minimum Value: 0
  Maximum Value: 3.4e+38
  Default Value: 0
  Units:
- kD
  
  public double kD
  Derivative Gain
  The units for this gain is dependent on the control mode. Since this gain is multiplied by the derivative of error in the input with respect to time (in units of seconds), the units should be defined as units of output per unit of the differentiated input error. For example, when controlling velocity using a duty cycle closed loop, the derivative of velocity with respect to time is rps/s, which is acceleration. Therefore, the units for the derivative gain will be duty cycle per unit of acceleration error, or 1/(rps/s).
  
  Minimum Value: 0
  Maximum Value: 3.4e+38
  Default Value: 0
  Units:
- kS
  
  public double kS
  Static Feedforward Gain
  This is added to the closed loop output. The unit for this constant is dependent on the control mode, typically fractional duty cycle, voltage, or torque current.
  The sign is typically determined by reference velocity when using position, velocity, and Motion Magic® closed loop modes. However, when using position closed loop with zero velocity reference (no motion profiling), the application can instead use the position closed loop error by setting the Static Feedforward Sign configuration parameter. When doing so, we recommend the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.
  
  Minimum Value: -512
  Maximum Value: 511
  Default Value: 0
  Units:
- kV
  
  public double kV
  Velocity Feedforward Gain
  The units for this gain is dependent on the control mode. Since this gain is multiplied by the requested velocity, the units should be defined as units of output per unit of requested input velocity. For example, when controlling velocity using a duty cycle closed loop, the units for the velocity feedfoward gain will be duty cycle per requested rps, or 1/rps.
  
  Minimum Value: 0
  Maximum Value: 3.4e+38
  Default Value: 0
  Units:
- kA
  
  public double kA
  Acceleration Feedforward Gain
  The units for this gain is dependent on the control mode. Since this gain is multiplied by the requested acceleration, the units should be defined as units of output per unit of requested input acceleration. For example, when controlling velocity using a duty cycle closed loop, the units for the acceleration feedfoward gain will be duty cycle per requested rps/s, or 1/(rps/s).
  
  Minimum Value: 0
  Maximum Value: 3.4e+38
  Default Value: 0
  Units:
- kG
  
  public double kG
  Gravity Feedforward/Feedback Gain
  This is added to the closed loop output. The sign is determined by GravityType. The unit for this constant is dependent on the control mode, typically fractional duty cycle, voltage, or torque current.
  
  Minimum Value: -512
  Maximum Value: 511
  Default Value: 0
  Units:
- GravityType
  
  public GravityTypeValue GravityType
  
  Gravity Feedforward/Feedback Type
  This determines the type of the gravity feedforward/feedback.
  Choose Elevator_Static for systems where the gravity feedforward is constant, such as an elevator. The gravity feedforward output will always have the same sign.
  Choose Arm_Cosine for systems where the gravity feedback is dependent on the angular position of the mechanism, such as an arm. The gravity feedback output will vary depending on the mechanism angular position. Note that the sensor offset and ratios must be configured so that the sensor reports a position of 0 when the mechanism is horizonal (parallel to the ground), and the reported sensor position is 1:1 with the mechanism.
- StaticFeedforwardSign
  
  public StaticFeedforwardSignValue StaticFeedforwardSign
  
  Static Feedforward Sign during position closed loop
  This determines the sign of the applied kS during position closed-loop modes. The default behavior uses the velocity reference sign. This works well with velocity closed loop, Motion Magic® controls, and position closed loop when velocity reference is specified (motion profiling).
  However, when using position closed loop with zero velocity reference (no motion profiling), the application may want to apply static feedforward based on the closed loop error sign instead. When doing so, we recommend the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.
Constructor Details
- Slot0Configs
  
  public Slot0Configs()
Method Details
- withKP
  
  public Slot0Configs withKP(double newKP)
  Modifies this configuration's kP parameter and returns itself for method-chaining and easier to use config API.
  Proportional Gain
  The units for this gain is dependent on the control mode. Since this gain is multiplied by error in the input, the units should be defined as units of output per unit of input error. For example, when controlling velocity using a duty cycle closed loop, the units for the proportional gain will be duty cycle per rps of error, or 1/rps.
  
  Minimum Value: 0
  Maximum Value: 3.4e+38
  Default Value: 0
  Units:
  Parameters:
  
  newKP - Parameter to modify
  
  Returns:
  
  Itself
- withKI
  
  public Slot0Configs withKI(double newKI)
  Modifies this configuration's kI parameter and returns itself for method-chaining and easier to use config API.
  Integral Gain
  The units for this gain is dependent on the control mode. Since this gain is multiplied by error in the input integrated over time (in units of seconds), the units should be defined as units of output per unit of integrated input error. For example, when controlling velocity using a duty cycle closed loop, integrating velocity over time results in rps * s = rotations. Therefore, the units for the integral gain will be duty cycle per rotation of accumulated error, or 1/rot.
  
  Minimum Value: 0
  Maximum Value: 3.4e+38
  Default Value: 0
  Units:
  Parameters:
  
  newKI - Parameter to modify
  
  Returns:
  
  Itself
- withKD
  
  public Slot0Configs withKD(double newKD)
  Modifies this configuration's kD parameter and returns itself for method-chaining and easier to use config API.
  Derivative Gain
  The units for this gain is dependent on the control mode. Since this gain is multiplied by the derivative of error in the input with respect to time (in units of seconds), the units should be defined as units of output per unit of the differentiated input error. For example, when controlling velocity using a duty cycle closed loop, the derivative of velocity with respect to time is rps/s, which is acceleration. Therefore, the units for the derivative gain will be duty cycle per unit of acceleration error, or 1/(rps/s).
  
  Minimum Value: 0
  Maximum Value: 3.4e+38
  Default Value: 0
  Units:
  Parameters:
  
  newKD - Parameter to modify
  
  Returns:
  
  Itself
- withKS
  
  public Slot0Configs withKS(double newKS)
  Modifies this configuration's kS parameter and returns itself for method-chaining and easier to use config API.
  Static Feedforward Gain
  This is added to the closed loop output. The unit for this constant is dependent on the control mode, typically fractional duty cycle, voltage, or torque current.
  The sign is typically determined by reference velocity when using position, velocity, and Motion Magic® closed loop modes. However, when using position closed loop with zero velocity reference (no motion profiling), the application can instead use the position closed loop error by setting the Static Feedforward Sign configuration parameter. When doing so, we recommend the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.
  
  Minimum Value: -512
  Maximum Value: 511
  Default Value: 0
  Units:
  Parameters:
  
  newKS - Parameter to modify
  
  Returns:
  
  Itself
- withKV
  
  public Slot0Configs withKV(double newKV)
  Modifies this configuration's kV parameter and returns itself for method-chaining and easier to use config API.
  Velocity Feedforward Gain
  The units for this gain is dependent on the control mode. Since this gain is multiplied by the requested velocity, the units should be defined as units of output per unit of requested input velocity. For example, when controlling velocity using a duty cycle closed loop, the units for the velocity feedfoward gain will be duty cycle per requested rps, or 1/rps.
  
  Minimum Value: 0
  Maximum Value: 3.4e+38
  Default Value: 0
  Units:
  Parameters:
  
  newKV - Parameter to modify
  
  Returns:
  
  Itself
- withKA
  
  public Slot0Configs withKA(double newKA)
  Modifies this configuration's kA parameter and returns itself for method-chaining and easier to use config API.
  Acceleration Feedforward Gain
  The units for this gain is dependent on the control mode. Since this gain is multiplied by the requested acceleration, the units should be defined as units of output per unit of requested input acceleration. For example, when controlling velocity using a duty cycle closed loop, the units for the acceleration feedfoward gain will be duty cycle per requested rps/s, or 1/(rps/s).
  
  Minimum Value: 0
  Maximum Value: 3.4e+38
  Default Value: 0
  Units:
  Parameters:
  
  newKA - Parameter to modify
  
  Returns:
  
  Itself
- withKG
  
  public Slot0Configs withKG(double newKG)
  Modifies this configuration's kG parameter and returns itself for method-chaining and easier to use config API.
  Gravity Feedforward/Feedback Gain
  This is added to the closed loop output. The sign is determined by GravityType. The unit for this constant is dependent on the control mode, typically fractional duty cycle, voltage, or torque current.
  
  Minimum Value: -512
  Maximum Value: 511
  Default Value: 0
  Units:
  Parameters:
  
  newKG - Parameter to modify
  
  Returns:
  
  Itself
- withGravityType
  
  public Slot0Configs withGravityType(GravityTypeValue newGravityType)
  
  Modifies this configuration's GravityType parameter and returns itself for method-chaining and easier to use config API.
  Gravity Feedforward/Feedback Type
  This determines the type of the gravity feedforward/feedback.
  Choose Elevator_Static for systems where the gravity feedforward is constant, such as an elevator. The gravity feedforward output will always have the same sign.
  Choose Arm_Cosine for systems where the gravity feedback is dependent on the angular position of the mechanism, such as an arm. The gravity feedback output will vary depending on the mechanism angular position. Note that the sensor offset and ratios must be configured so that the sensor reports a position of 0 when the mechanism is horizonal (parallel to the ground), and the reported sensor position is 1:1 with the mechanism.
  
  Parameters:
  
  newGravityType - Parameter to modify
  
  Returns:
  
  Itself
- withStaticFeedforwardSign
  
  public Slot0Configs withStaticFeedforwardSign(StaticFeedforwardSignValue newStaticFeedforwardSign)
  
  Modifies this configuration's StaticFeedforwardSign parameter and returns itself for method-chaining and easier to use config API.
  Static Feedforward Sign during position closed loop
  This determines the sign of the applied kS during position closed-loop modes. The default behavior uses the velocity reference sign. This works well with velocity closed loop, Motion Magic® controls, and position closed loop when velocity reference is specified (motion profiling).
  However, when using position closed loop with zero velocity reference (no motion profiling), the application may want to apply static feedforward based on the closed loop error sign instead. When doing so, we recommend the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.
  
  Parameters:
  
  newStaticFeedforwardSign - Parameter to modify
  
  Returns:
  
  Itself
- from
  
  public static Slot0Configs from(SlotConfigs value)
- 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 Slot0Configs

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Details

Constructor Details

Method Details