Package com.ctre.phoenix6.configs

Class TorqueCurrentConfigs

java.lang.Object

com.ctre.phoenix6.configs.TorqueCurrentConfigs

All Implemented Interfaces:

ParentConfiguration, ISerializable

public class TorqueCurrentConfigs
extends Object
implements ParentConfiguration

Configs that affect Torque Current control types.

Includes the maximum and minimum applied torque output and the neutral deadband used during TorqueCurrentFOC requests.

Field Summary

Fields

Modifier and Type	Field	Description
double	PeakForwardTorqueCurrent	Maximum (forward) output during torque current based control modes.
double	PeakReverseTorqueCurrent	Minimum (reverse) output during torque current based control modes.
double	TorqueNeutralDeadband	Configures the output deadband during torque current based control modes.

Constructor Summary

Constructors

Constructor	Description
TorqueCurrentConfigs()

Method Summary

Modifier and Type	Method	Description
StatusCode	deserialize(String to_deserialize)
String	serialize()
String	toString()
TorqueCurrentConfigs	withPeakForwardTorqueCurrent(double newPeakForwardTorqueCurrent)	Modifies this configuration's PeakForwardTorqueCurrent parameter and returns itself for method-chaining and easier to use config API.
TorqueCurrentConfigs	withPeakReverseTorqueCurrent(double newPeakReverseTorqueCurrent)	Modifies this configuration's PeakReverseTorqueCurrent parameter and returns itself for method-chaining and easier to use config API.
TorqueCurrentConfigs	withTorqueNeutralDeadband(double newTorqueNeutralDeadband)	Modifies this configuration's TorqueNeutralDeadband 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

PeakForwardTorqueCurrent

public double PeakForwardTorqueCurrent

Maximum (forward) output during torque current based control modes.

• Minimum Value: -800
• Maximum Value: 800
• Default Value: 800
• Units: A

PeakReverseTorqueCurrent

public double PeakReverseTorqueCurrent

Minimum (reverse) output during torque current based control modes.

• Minimum Value: -800
• Maximum Value: 800
• Default Value: -800
• Units: A

TorqueNeutralDeadband

public double TorqueNeutralDeadband

Configures the output deadband during torque current based control modes.

• Minimum Value: 0
• Maximum Value: 25
• Default Value: 0.0
• Units: A

Constructor Details

TorqueCurrentConfigs

public TorqueCurrentConfigs()

Method Details

withPeakForwardTorqueCurrent

public TorqueCurrentConfigs withPeakForwardTorqueCurrent(double newPeakForwardTorqueCurrent)

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

Maximum (forward) output during torque current based control modes.

• Minimum Value: -800
• Maximum Value: 800
• Default Value: 800
• Units: A

Parameters:

newPeakForwardTorqueCurrent - Parameter to modify

Returns:

Itself

withPeakReverseTorqueCurrent

public TorqueCurrentConfigs withPeakReverseTorqueCurrent(double newPeakReverseTorqueCurrent)

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

Minimum (reverse) output during torque current based control modes.

• Minimum Value: -800
• Maximum Value: 800
• Default Value: -800
• Units: A

Parameters:

newPeakReverseTorqueCurrent - Parameter to modify

Returns:

Itself

withTorqueNeutralDeadband

public TorqueCurrentConfigs withTorqueNeutralDeadband(double newTorqueNeutralDeadband)

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

Configures the output deadband during torque current based control modes.

• Minimum Value: 0
• Maximum Value: 25
• Default Value: 0.0
• Units: A

Parameters:

newTorqueNeutralDeadband - 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