Package com.ctre.phoenix6.controls
Class StaticBrake
java.lang.Object
com.ctre.phoenix6.controls.ControlRequest
com.ctre.phoenix6.controls.StaticBrake
- All Implemented Interfaces:
Cloneable
public class StaticBrake extends ControlRequest implements Cloneable
Applies full neutral-brake by shorting motor leads together.
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Field Summary
Fields Modifier and Type Field Description double
UpdateFreqHz
The period at which this control will update at. -
Constructor Summary
Constructors Constructor Description StaticBrake()
Applies full neutral-brake by shorting motor leads together. -
Method Summary
Modifier and Type Method Description StaticBrake
clone()
Map<String,String>
getControlInfo()
Gets information about this control request.StatusCode
sendRequest(String network, int deviceHash, boolean cancelOtherRequests)
String
toString()
StaticBrake
withUpdateFreqHz(double newUpdateFreqHz)
Sets the period at which this control will update at.
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Field Details
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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.
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Constructor Details
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StaticBrake
public StaticBrake()Applies full neutral-brake by shorting motor leads together.
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Method Details
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toString
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sendRequest
- Specified by:
sendRequest
in classControlRequest
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getControlInfo
Gets information about this control request.- Specified by:
getControlInfo
in classControlRequest
- Returns:
- Map of control parameter names and corresponding applied values
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withUpdateFreqHz
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
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clone
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