Package com.ctre.phoenix6.controls

Class ControlRequest

java.lang.Object

com.ctre.phoenix6.controls.ControlRequest

Direct Known Subclasses:

CoastOut, DifferentialDutyCycle, DifferentialFollower, DifferentialMotionMagicDutyCycle, DifferentialMotionMagicVoltage, DifferentialPositionDutyCycle, DifferentialPositionVoltage, DifferentialStrictFollower, DifferentialVelocityDutyCycle, DifferentialVelocityVoltage, DifferentialVoltage, DutyCycleOut, DynamicMotionMagicDutyCycle, DynamicMotionMagicTorqueCurrentFOC, DynamicMotionMagicVoltage, EmptyControl, Follower, MotionMagicDutyCycle, MotionMagicExpoDutyCycle, MotionMagicExpoTorqueCurrentFOC, MotionMagicExpoVoltage, MotionMagicTorqueCurrentFOC, MotionMagicVelocityDutyCycle, MotionMagicVelocityTorqueCurrentFOC, MotionMagicVelocityVoltage, MotionMagicVoltage, MusicTone, NeutralOut, PositionDutyCycle, PositionTorqueCurrentFOC, PositionVoltage, StaticBrake, StrictFollower, TorqueCurrentFOC, VelocityDutyCycle, VelocityTorqueCurrentFOC, VelocityVoltage, VoltageOut

public abstract class ControlRequest
extends Object

Abstract Control Request class that other control requests extend for use.

Field Summary

Fields

Modifier and Type	Field	Description
protected String	name

Constructor Summary

Constructors

Constructor	Description
ControlRequest(String name)	Constructs a new Control Request with the given name.

Method Summary

Modifier and Type	Method	Description
abstract Map<String,String>	getControlInfo()	Gets information about this control request.
String	getName()	Gets the name of this control request.
abstract StatusCode	sendRequest(String network, int deviceHash, boolean cancelOtherRequests)

Methods inherited from class java.lang.Object

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

Field Details

name

protected final String name

Constructor Details

ControlRequest

public ControlRequest(String name)

Constructs a new Control Request with the given name.

Parameters:

name - Name of the control request

Method Details

getName

public String getName()

Gets the name of this control request.

Returns:

Name of the control request

sendRequest

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

getControlInfo

public abstract Map<String,String> getControlInfo()

Gets information about this control request.

Returns:

Map of control parameter names and corresponding applied values