Package com.ctre.phoenix6.signals
Enum StaticFeedforwardSignValue
- All Implemented Interfaces:
Serializable
,Comparable<StaticFeedforwardSignValue>
,java.lang.constant.Constable
public enum StaticFeedforwardSignValue extends Enum<StaticFeedforwardSignValue>
Static Feedforward Sign during position closed loop
This determines the sign of the applied kS during position closed-loop modes. The default behavior uses the velocity reference sign. This works well with velocity closed loop, Motion MagicĀ® controls, and position closed loop when velocity reference is specified (motion profiling).
However, when using position closed loop with zero velocity reference (no motion profiling), the application may want to apply static feedforward based on the closed loop error sign instead. When doing so, we recommend the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.
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Nested Class Summary
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Enum Constant Summary
Enum Constants Enum Constant Description UseClosedLoopSign
UseVelocitySign
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Field Summary
Fields Modifier and Type Field Description int
value
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Method Summary
Modifier and Type Method Description static StaticFeedforwardSignValue
valueOf(int value)
Gets StaticFeedforwardSignValue from specified valuestatic StaticFeedforwardSignValue
valueOf(String name)
Returns the enum constant of this type with the specified name.static StaticFeedforwardSignValue[]
values()
Returns an array containing the constants of this enum type, in the order they are declared.
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Enum Constant Details
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Field Details
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Method Details
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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
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valueOf
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 nameNullPointerException
- if the argument is null
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valueOf
Gets StaticFeedforwardSignValue from specified value- Parameters:
value
- Value of StaticFeedforwardSignValue- Returns:
- StaticFeedforwardSignValue of specified value
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