ctre::phoenix6::signals::GainSchedBehaviorValue Struct Reference

The behavior of the gain scheduler on this slot. More...

#include <ctre/phoenix6/signals/SpnEnums.hpp>

Inheritance diagram for ctre::phoenix6::signals::GainSchedBehaviorValue:

Public Member Functions
constexpr	GainSchedBehaviorValue (int value)
constexpr	GainSchedBehaviorValue ()
constexpr bool	operator== (GainSchedBehaviorValue other) const
constexpr auto	operator<=> (GainSchedBehaviorValue other) const
constexpr std::string_view	ToString () const
	Gets the string representation of this enum.
std::string	Serialize () const override
Public Member Functions inherited from ctre::phoenix6::ISerializable

Public Attributes
int	value

Static Public Attributes
static constexpr int	Inactive = 0
	No gain scheduling will occur.
static constexpr int	ZeroOutput = 1
	The output of the PID controller will be completely zeroed, except for kG and the user FeedForward control request parameter.
static constexpr int	UseSlot0 = 2
	Switch to Slot 0 while within the configured GainSchedErrorThreshold.
static constexpr int	UseSlot1 = 3
	Switch to Slot 1 while within the configured GainSchedErrorThreshold.
static constexpr int	UseSlot2 = 4
	Switch to Slot 2 while within the configured GainSchedErrorThreshold.

Friends
CTREXPORT friend std::ostream &	operator<< (std::ostream &os, GainSchedBehaviorValue data)

Detailed Description

The behavior of the gain scheduler on this slot.

This specifies which gains to use while within the configured GainSchedErrorThreshold. The default is to continue using the specified slot.

Gain scheduling will not take effect when running velocity closed-loop controls.

Constructor & Destructor Documentation

GainSchedBehaviorValue() [1/2]

ctre::phoenix6::signals::GainSchedBehaviorValue::GainSchedBehaviorValue ( int value )

inlineconstexpr

GainSchedBehaviorValue() [2/2]

ctre::phoenix6::signals::GainSchedBehaviorValue::GainSchedBehaviorValue ( )

inlineconstexpr

Member Function Documentation

operator<=>()

auto ctre::phoenix6::signals::GainSchedBehaviorValue::operator<=> ( GainSchedBehaviorValue other ) const

inlineconstexpr

operator==()

bool ctre::phoenix6::signals::GainSchedBehaviorValue::operator== ( GainSchedBehaviorValue other ) const

inlineconstexpr

Serialize()

std::string ctre::phoenix6::signals::GainSchedBehaviorValue::Serialize ( ) const

inlineoverridevirtual

Implements ctre::phoenix6::ISerializable.

ToString()

std::string_view ctre::phoenix6::signals::GainSchedBehaviorValue::ToString ( ) const

inlineconstexpr

Gets the string representation of this enum.

Returns

String representation of this enum

Friends And Related Symbol Documentation

operator<<

CTREXPORT friend std::ostream & operator<< ( std::ostream & os, GainSchedBehaviorValue data )

friend

Member Data Documentation

Inactive

int ctre::phoenix6::signals::GainSchedBehaviorValue::Inactive = 0

staticconstexpr

No gain scheduling will occur.

UseSlot0

int ctre::phoenix6::signals::GainSchedBehaviorValue::UseSlot0 = 2

staticconstexpr

Switch to Slot 0 while within the configured GainSchedErrorThreshold.

UseSlot1

int ctre::phoenix6::signals::GainSchedBehaviorValue::UseSlot1 = 3

staticconstexpr

Switch to Slot 1 while within the configured GainSchedErrorThreshold.

UseSlot2

int ctre::phoenix6::signals::GainSchedBehaviorValue::UseSlot2 = 4

staticconstexpr

Switch to Slot 2 while within the configured GainSchedErrorThreshold.

value

int ctre::phoenix6::signals::GainSchedBehaviorValue::value

ZeroOutput

int ctre::phoenix6::signals::GainSchedBehaviorValue::ZeroOutput = 1

staticconstexpr

The output of the PID controller will be completely zeroed, except for kG and the user FeedForward control request parameter.

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The documentation for this struct was generated from the following file:

• ctre/phoenix6/signals/SpnEnums.hpp