Package com.ctre.phoenix6.configs

Class SoftwareLimitSwitchConfigs

java.lang.Object

com.ctre.phoenix6.configs.SoftwareLimitSwitchConfigs

All Implemented Interfaces:

ParentConfiguration, ISerializable

public class SoftwareLimitSwitchConfigs
extends Object
implements ParentConfiguration

Configs that affect how software-limit switches behave.

Includes enabling software-limit switches and the threshold at which they are tripped.

Field Summary

Fields

Modifier and Type	Field	Description
boolean	ForwardSoftLimitEnable	If enabled, the motor output is set to neutral if position exceeds ForwardSoftLimitThreshold and forward output is requested.
double	ForwardSoftLimitThreshold	Position threshold for forward soft limit features.
boolean	ReverseSoftLimitEnable	If enabled, the motor output is set to neutral if position exceeds ReverseSoftLimitThreshold and reverse output is requested.
double	ReverseSoftLimitThreshold	Position threshold for reverse soft limit features.

Constructor Summary

Constructors

Constructor	Description
SoftwareLimitSwitchConfigs()

Method Summary

Modifier and Type	Method	Description
StatusCode	deserialize(String to_deserialize)
String	serialize()
String	toString()
SoftwareLimitSwitchConfigs	withForwardSoftLimitEnable(boolean newForwardSoftLimitEnable)	Modifies this configuration's ForwardSoftLimitEnable parameter and returns itself for method-chaining and easier to use config API.
SoftwareLimitSwitchConfigs	withForwardSoftLimitThreshold(double newForwardSoftLimitThreshold)	Modifies this configuration's ForwardSoftLimitThreshold parameter and returns itself for method-chaining and easier to use config API.
SoftwareLimitSwitchConfigs	withReverseSoftLimitEnable(boolean newReverseSoftLimitEnable)	Modifies this configuration's ReverseSoftLimitEnable parameter and returns itself for method-chaining and easier to use config API.
SoftwareLimitSwitchConfigs	withReverseSoftLimitThreshold(double newReverseSoftLimitThreshold)	Modifies this configuration's ReverseSoftLimitThreshold 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

ForwardSoftLimitEnable

public boolean ForwardSoftLimitEnable

If enabled, the motor output is set to neutral if position exceeds ForwardSoftLimitThreshold and forward output is requested.

• Default Value: False

ReverseSoftLimitEnable

public boolean ReverseSoftLimitEnable

If enabled, the motor output is set to neutral if position exceeds ReverseSoftLimitThreshold and reverse output is requested.

• Default Value: False

ForwardSoftLimitThreshold

public double ForwardSoftLimitThreshold

Position threshold for forward soft limit features. ForwardSoftLimitEnable must be enabled for this to take effect.

• Minimum Value: -3.4e+38
• Maximum Value: 3.4e+38
• Default Value: 0
• Units: rotations

ReverseSoftLimitThreshold

public double ReverseSoftLimitThreshold

Position threshold for reverse soft limit features. ReverseSoftLimitEnable must be enabled for this to take effect.

• Minimum Value: -3.4e+38
• Maximum Value: 3.4e+38
• Default Value: 0
• Units: rotations

Constructor Details

SoftwareLimitSwitchConfigs

public SoftwareLimitSwitchConfigs()

Method Details

withForwardSoftLimitEnable

public SoftwareLimitSwitchConfigs withForwardSoftLimitEnable(boolean newForwardSoftLimitEnable)

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

If enabled, the motor output is set to neutral if position exceeds ForwardSoftLimitThreshold and forward output is requested.

• Default Value: False

Parameters:

newForwardSoftLimitEnable - Parameter to modify

Returns:

Itself

withReverseSoftLimitEnable

public SoftwareLimitSwitchConfigs withReverseSoftLimitEnable(boolean newReverseSoftLimitEnable)

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

If enabled, the motor output is set to neutral if position exceeds ReverseSoftLimitThreshold and reverse output is requested.

• Default Value: False

Parameters:

newReverseSoftLimitEnable - Parameter to modify

Returns:

Itself

withForwardSoftLimitThreshold

public SoftwareLimitSwitchConfigs withForwardSoftLimitThreshold(double newForwardSoftLimitThreshold)

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

Position threshold for forward soft limit features. ForwardSoftLimitEnable must be enabled for this to take effect.

• Minimum Value: -3.4e+38
• Maximum Value: 3.4e+38
• Default Value: 0
• Units: rotations

Parameters:

newForwardSoftLimitThreshold - Parameter to modify

Returns:

Itself

withReverseSoftLimitThreshold

public SoftwareLimitSwitchConfigs withReverseSoftLimitThreshold(double newReverseSoftLimitThreshold)

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

Position threshold for reverse soft limit features. ReverseSoftLimitEnable must be enabled for this to take effect.

• Minimum Value: -3.4e+38
• Maximum Value: 3.4e+38
• Default Value: 0
• Units: rotations

Parameters:

newReverseSoftLimitThreshold - 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