Package com.ctre.phoenix6.signals

Enum GravityTypeValue

java.lang.Object

java.lang.Enum<GravityTypeValue>

com.ctre.phoenix6.signals.GravityTypeValue

All Implemented Interfaces:

Serializable, Comparable<GravityTypeValue>, java.lang.constant.Constable

public enum GravityTypeValue
extends Enum<GravityTypeValue>

Gravity Feedforward/Feedback Type

This determines the type of the gravity feedforward/feedback.

Choose Elevator_Static for systems where the gravity feedforward is constant, such as an elevator. The gravity feedforward output will always have the same sign.

Choose Arm_Cosine for systems where the gravity feedback is dependent on the angular position of the mechanism, such as an arm. The gravity feedback output will vary depending on the mechanism angular position. Note that the sensor offset and ratios must be configured so that the sensor reports a position of 0 when the mechanism is horizonal (parallel to the ground), and the reported sensor position is 1:1 with the mechanism.

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Enum

Enum.EnumDesc<E extends Enum<E>>

Enum Constant Summary

Enum Constants

Enum Constant	Description
Arm_Cosine
Elevator_Static

Field Summary

Fields

Modifier and Type	Field	Description
int	value

Method Summary

Modifier and Type	Method	Description
static GravityTypeValue	valueOf(int value)	Gets GravityTypeValue from specified value
static GravityTypeValue	valueOf(String name)	Returns the enum constant of this type with the specified name.
static GravityTypeValue[]	values()	Returns an array containing the constants of this enum type, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

Elevator_Static

public static final GravityTypeValue Elevator_Static

Arm_Cosine

public static final GravityTypeValue Arm_Cosine

Field Details

value

public final int value

Method Details

values

public static GravityTypeValue[] values()

Returns an array containing the constants of this enum type, in the order they are declared.

Returns:

an array containing the constants of this enum type, in the order they are declared

valueOf

public static GravityTypeValue valueOf(String name)

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum type has no constant with the specified name

NullPointerException - if the argument is null

valueOf

public static GravityTypeValue valueOf(int value)

Gets GravityTypeValue from specified value

Parameters:

value - Value of GravityTypeValue

Returns:

GravityTypeValue of specified value