Package com.ctre.phoenix6.configs

Class VoltageConfigs

java.lang.Object

com.ctre.phoenix6.configs.VoltageConfigs

All Implemented Interfaces:

ParentConfiguration, ISerializable

public class VoltageConfigs
extends Object
implements ParentConfiguration

Configs that affect Voltage control types.

Includes peak output voltages and other configs affecting voltage measurements.

Field Summary

Fields

Modifier and Type	Field	Description
double	PeakForwardVoltage	Maximum (forward) output during voltage based control modes.
double	PeakReverseVoltage	Minimum (reverse) output during voltage based control modes.
double	SupplyVoltageTimeConstant	The time constant (in seconds) of the low-pass filter for the supply voltage.

Constructor Summary

Constructors

Constructor	Description
VoltageConfigs()

Method Summary

Modifier and Type	Method	Description
StatusCode	deserialize(String to_deserialize)
Voltage	getPeakForwardVoltageMeasure()	Helper method to get this configuration's PeakForwardVoltage parameter converted to a unit type.
Voltage	getPeakReverseVoltageMeasure()	Helper method to get this configuration's PeakReverseVoltage parameter converted to a unit type.
Time	getSupplyVoltageTimeConstantMeasure()	Helper method to get this configuration's SupplyVoltageTimeConstant parameter converted to a unit type.
String	serialize()
String	toString()
VoltageConfigs	withPeakForwardVoltage(double newPeakForwardVoltage)	Modifies this configuration's PeakForwardVoltage parameter and returns itself for method-chaining and easier to use config API.
VoltageConfigs	withPeakForwardVoltage(Voltage newPeakForwardVoltage)	Modifies this configuration's PeakForwardVoltage parameter and returns itself for method-chaining and easier to use config API.
VoltageConfigs	withPeakReverseVoltage(double newPeakReverseVoltage)	Modifies this configuration's PeakReverseVoltage parameter and returns itself for method-chaining and easier to use config API.
VoltageConfigs	withPeakReverseVoltage(Voltage newPeakReverseVoltage)	Modifies this configuration's PeakReverseVoltage parameter and returns itself for method-chaining and easier to use config API.
VoltageConfigs	withSupplyVoltageTimeConstant(double newSupplyVoltageTimeConstant)	Modifies this configuration's SupplyVoltageTimeConstant parameter and returns itself for method-chaining and easier to use config API.
VoltageConfigs	withSupplyVoltageTimeConstant(Time newSupplyVoltageTimeConstant)	Modifies this configuration's SupplyVoltageTimeConstant 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

SupplyVoltageTimeConstant

public double SupplyVoltageTimeConstant

The time constant (in seconds) of the low-pass filter for the supply voltage.

This impacts the filtering for the reported supply voltage, and any control strategies that use the supply voltage (such as voltage control on a motor controller).

• Minimum Value: 0.0
• Maximum Value: 0.1
• Default Value: 0
• Units: seconds

PeakForwardVoltage

public double PeakForwardVoltage

Maximum (forward) output during voltage based control modes.

• Minimum Value: -16
• Maximum Value: 16
• Default Value: 16
• Units: V

PeakReverseVoltage

public double PeakReverseVoltage

Minimum (reverse) output during voltage based control modes.

• Minimum Value: -16
• Maximum Value: 16
• Default Value: -16
• Units: V

Constructor Details

VoltageConfigs

public VoltageConfigs()

Method Details

withSupplyVoltageTimeConstant

public VoltageConfigs withSupplyVoltageTimeConstant(double newSupplyVoltageTimeConstant)

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

The time constant (in seconds) of the low-pass filter for the supply voltage.

This impacts the filtering for the reported supply voltage, and any control strategies that use the supply voltage (such as voltage control on a motor controller).

• Minimum Value: 0.0
• Maximum Value: 0.1
• Default Value: 0
• Units: seconds

Parameters:

newSupplyVoltageTimeConstant - Parameter to modify

Returns:

Itself

withSupplyVoltageTimeConstant

public VoltageConfigs withSupplyVoltageTimeConstant(Time newSupplyVoltageTimeConstant)

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

The time constant (in seconds) of the low-pass filter for the supply voltage.

This impacts the filtering for the reported supply voltage, and any control strategies that use the supply voltage (such as voltage control on a motor controller).

• Minimum Value: 0.0
• Maximum Value: 0.1
• Default Value: 0
• Units: seconds

Parameters:

newSupplyVoltageTimeConstant - Parameter to modify

Returns:

Itself

getSupplyVoltageTimeConstantMeasure

public Time getSupplyVoltageTimeConstantMeasure()

Helper method to get this configuration's SupplyVoltageTimeConstant parameter converted to a unit type. If not using the Java units library, SupplyVoltageTimeConstant can be accessed directly instead.

The time constant (in seconds) of the low-pass filter for the supply voltage.

This impacts the filtering for the reported supply voltage, and any control strategies that use the supply voltage (such as voltage control on a motor controller).

• Minimum Value: 0.0
• Maximum Value: 0.1
• Default Value: 0
• Units: seconds

Returns:

SupplyVoltageTimeConstant

withPeakForwardVoltage

public VoltageConfigs withPeakForwardVoltage(double newPeakForwardVoltage)

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

Maximum (forward) output during voltage based control modes.

• Minimum Value: -16
• Maximum Value: 16
• Default Value: 16
• Units: V

Parameters:

newPeakForwardVoltage - Parameter to modify

Returns:

Itself

withPeakForwardVoltage

public VoltageConfigs withPeakForwardVoltage(Voltage newPeakForwardVoltage)

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

Maximum (forward) output during voltage based control modes.

• Minimum Value: -16
• Maximum Value: 16
• Default Value: 16
• Units: V

Parameters:

newPeakForwardVoltage - Parameter to modify

Returns:

Itself

getPeakForwardVoltageMeasure

public Voltage getPeakForwardVoltageMeasure()

Helper method to get this configuration's PeakForwardVoltage parameter converted to a unit type. If not using the Java units library, PeakForwardVoltage can be accessed directly instead.

Maximum (forward) output during voltage based control modes.

• Minimum Value: -16
• Maximum Value: 16
• Default Value: 16
• Units: V

Returns:

PeakForwardVoltage

withPeakReverseVoltage

public VoltageConfigs withPeakReverseVoltage(double newPeakReverseVoltage)

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

Minimum (reverse) output during voltage based control modes.

• Minimum Value: -16
• Maximum Value: 16
• Default Value: -16
• Units: V

Parameters:

newPeakReverseVoltage - Parameter to modify

Returns:

Itself

withPeakReverseVoltage

public VoltageConfigs withPeakReverseVoltage(Voltage newPeakReverseVoltage)

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

Minimum (reverse) output during voltage based control modes.

• Minimum Value: -16
• Maximum Value: 16
• Default Value: -16
• Units: V

Parameters:

newPeakReverseVoltage - Parameter to modify

Returns:

Itself

getPeakReverseVoltageMeasure

public Voltage getPeakReverseVoltageMeasure()

Helper method to get this configuration's PeakReverseVoltage parameter converted to a unit type. If not using the Java units library, PeakReverseVoltage can be accessed directly instead.

Minimum (reverse) output during voltage based control modes.

• Minimum Value: -16
• Maximum Value: 16
• Default Value: -16
• Units: V

Returns:

PeakReverseVoltage

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