ctre::phoenix6::signals::GravityTypeValue Struct Reference

Gravity feedforward/feedback type. More...

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

Inheritance diagram for ctre::phoenix6::signals::GravityTypeValue:

Public Member Functions
constexpr	GravityTypeValue (int value)
constexpr	GravityTypeValue ()
constexpr bool	operator== (GravityTypeValue other) const
constexpr auto	operator<=> (GravityTypeValue 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	Elevator_Static = 0
	The system's gravity feedforward is constant, such as an elevator.
static constexpr int	Arm_Cosine = 1
	The system's gravity feedback is dependent on the angular position of the mechanism, such as an arm.

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

Detailed Description

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.

Constructor & Destructor Documentation

GravityTypeValue() [1/2]

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

inlineconstexpr

GravityTypeValue() [2/2]

ctre::phoenix6::signals::GravityTypeValue::GravityTypeValue ( )

inlineconstexpr

Member Function Documentation

operator<=>()

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

inlineconstexpr

operator==()

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

inlineconstexpr

Serialize()

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

inlineoverridevirtual

Implements ctre::phoenix6::ISerializable.

ToString()

std::string_view ctre::phoenix6::signals::GravityTypeValue::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, GravityTypeValue data )

friend

Member Data Documentation

Arm_Cosine

int ctre::phoenix6::signals::GravityTypeValue::Arm_Cosine = 1

staticconstexpr

The system's 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.

Elevator_Static

int ctre::phoenix6::signals::GravityTypeValue::Elevator_Static = 0

staticconstexpr

The system's gravity feedforward is constant, such as an elevator.

The gravity feedforward output will always have the same sign.

value

int ctre::phoenix6::signals::GravityTypeValue::value

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

• ctre/phoenix6/signals/SpnEnums.hpp