Package com.ctre.phoenix6.configs

Class Slot1Configs

java.lang.Object
com.ctre.phoenix6.configs.Slot1Configs
All Implemented Interfaces:
ParentConfiguration, ISerializable
public class Slot1Configs extends Object implements ParentConfiguration
Gains for the specified slot.

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

  • 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, 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 rot per sec², which is acceleration. Therefore, the units for the derivative gain will be duty cycle per unit of acceleration error, or 1/(rot per sec²).

      • 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 rot per sec², or 1/(rot per sec²).

      • 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 be positive.

      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 position is 0 when the mechanism is horizonal, and one rotation of the mechanism corresponds to one rotation of the sensor position.

    • 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 using the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.

  • Constructor Details

  • Method Details

    • withKP

      public Slot1Configs 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, or 1/rps.

      • Minimum Value: 0
      • Maximum Value: 3.4e+38
      • Default Value: 0
      • Units:
      Parameters:
      newKP - Parameter to modify
      Returns:
      Itself

    • withKI

      public Slot1Configs 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 Slot1Configs 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 rot per sec², which is acceleration. Therefore, the units for the derivative gain will be duty cycle per unit of acceleration error, or 1/(rot per sec²).

      • Minimum Value: 0
      • Maximum Value: 3.4e+38
      • Default Value: 0
      • Units:
      Parameters:
      newKD - Parameter to modify
      Returns:
      Itself

    • withKS

      public Slot1Configs 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 Slot1Configs 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 Slot1Configs 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 rot per sec², or 1/(rot per sec²).

      • Minimum Value: 0
      • Maximum Value: 3.4e+38
      • Default Value: 0
      • Units:
      Parameters:
      newKA - Parameter to modify
      Returns:
      Itself

    • withKG

      public Slot1Configs 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 Slot1Configs 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 be positive.

      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 position is 0 when the mechanism is horizonal, and one rotation of the mechanism corresponds to one rotation of the sensor position.

      Parameters:
      newGravityType - Parameter to modify
      Returns:
      Itself

    • withStaticFeedforwardSign

      public Slot1Configs 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 using 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 Slot1Configs 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