Package com.ctre.phoenix6.controls

Class CoastOut

java.lang.Object

com.ctre.phoenix6.controls.ControlRequest

com.ctre.phoenix6.controls.CoastOut

All Implemented Interfaces:

Cloneable

public class CoastOut
extends ControlRequest
implements Cloneable

Request coast neutral output of actuator. The bridge is disabled and the rotor is allowed to coast.

Field Summary

Fields

Modifier and Type	Field	Description
double	UpdateFreqHz	The period at which this control will update at.

Fields inherited from class com.ctre.phoenix6.controls.ControlRequest

name

Constructor Summary

Constructors

Constructor	Description
CoastOut()	Request coast neutral output of actuator.

Method Summary

Modifier and Type	Method	Description
CoastOut	clone()
Map<String,String>	getControlInfo()	Gets information about this control request.
StatusCode	sendRequest(String network, int deviceHash, boolean cancelOtherRequests)
String	toString()
CoastOut	withUpdateFreqHz(double newUpdateFreqHz)	Sets the period at which this control will update at.

Methods inherited from class com.ctre.phoenix6.controls.ControlRequest

getName

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

UpdateFreqHz

public double UpdateFreqHz

The period at which this control will update at. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

Constructor Details

CoastOut

public CoastOut()

Request coast neutral output of actuator. The bridge is disabled and the rotor is allowed to coast.

Method Details

toString

public String toString()

Overrides:

toString in class Object

sendRequest

public StatusCode sendRequest(String network, int deviceHash, boolean cancelOtherRequests)

Specified by:

sendRequest in class ControlRequest

getControlInfo

public Map<String,String> getControlInfo()

Gets information about this control request.

Specified by:

getControlInfo in class ControlRequest

Returns:

Map of control parameter names and corresponding applied values

withUpdateFreqHz

public CoastOut withUpdateFreqHz(double newUpdateFreqHz)

Sets the period at which this control will update at. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

Parameters:

newUpdateFreqHz - Parameter to modify

Returns:

Itself

clone

public CoastOut clone()

Overrides:

clone in class Object