Class NeutralOut

java.lang.Object
com.ctre.phoenix6.controls.ControlRequest
com.ctre.phoenix6.controls.NeutralOut
All Implemented Interfaces:
Cloneable

public class NeutralOut extends ControlRequest implements Cloneable
Request neutral output of actuator. The applied brake type is determined by the NeutralMode configuration.
  • Field Details

    • UseTimesync

      public boolean UseTimesync
      Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

      This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

    • 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

    • NeutralOut

      public NeutralOut()
      Request neutral output of actuator. The applied brake type is determined by the NeutralMode configuration.
  • Method Details

    • toString

      public String toString()
      Overrides:
      toString in class Object
    • sendRequest

      public StatusCode sendRequest(String network, int deviceHash)
      Specified by:
      sendRequest in class ControlRequest
    • getControlInfo

      Gets information about this control request.
      Specified by:
      getControlInfo in class ControlRequest
      Returns:
      Map of control parameter names and corresponding applied values
    • withUseTimesync

      public NeutralOut withUseTimesync(boolean newUseTimesync)
      Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easier to use request API.

      Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

      This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Parameters:
      newUseTimesync - Parameter to modify
      Returns:
      Itself
    • withUpdateFreqHz

      public NeutralOut 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.

      Specified by:
      withUpdateFreqHz in class ControlRequest
      Parameters:
      newUpdateFreqHz - Parameter to modify
      Returns:
      Itself
    • withUpdateFreqHz

      public NeutralOut withUpdateFreqHz(Frequency 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.

      Specified by:
      withUpdateFreqHz in class ControlRequest
      Parameters:
      newUpdateFreqHz - Parameter to modify
      Returns:
      Itself
    • clone

      public NeutralOut clone()
      Overrides:
      clone in class Object