Package com.ctre.phoenix6.configs

Class Slot0Configs

java.lang.Object
com.ctre.phoenix6.configs.Slot0Configs
All Implemented Interfaces:
ParentConfiguration, ISerializable, Cloneable
public class Slot0Configs extends Object implements ParentConfiguration, Cloneable
Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

  • Field Details

    • kP

      public double kP
      Proportional gain.

      The units for this gain is dependent on the control mode. Since this gain is multiplied by error in the input, the units should be defined as units of output per unit of input error. For example, when controlling velocity using a duty cycle closed loop, the units for the proportional gain will be duty cycle per rps of error, or 1/rps.

      • Minimum Value: 0
      • Maximum Value: 3.4e+38
      • Default Value: 0
      • Units:

    • kI

      public double kI
      Integral gain.

      The units for this gain is dependent on the control mode. Since this gain is multiplied by error in the input integrated over time (in units of seconds), the units should be defined as units of output per unit of integrated input error. For example, when controlling velocity using a duty cycle closed loop, integrating velocity over time results in rps * s = rotations. Therefore, the units for the integral gain will be duty cycle per rotation of accumulated error, or 1/rot.

      • Minimum Value: 0
      • Maximum Value: 3.4e+38
      • Default Value: 0
      • Units:

    • kD

      public double kD
      Derivative gain.

      The units for this gain is dependent on the control mode. Since this gain is multiplied by the derivative of error in the input with respect to time (in units of seconds), the units should be defined as units of output per unit of the differentiated input error. For example, when controlling velocity using a duty cycle closed loop, the derivative of velocity with respect to time is rot per sec², which is acceleration. Therefore, the units for the derivative gain will be duty cycle per unit of acceleration error, or 1/(rot per sec²).

      • Minimum Value: 0
      • Maximum Value: 3.4e+38
      • Default Value: 0
      • Units:

    • kS

      public double kS
      Static feedforward gain.

      This is added to the closed loop output. The unit for this constant is dependent on the control mode, typically fractional duty cycle, voltage, or torque current.

      The sign is typically determined by reference velocity when using position, velocity, and Motion Magic® closed loop modes. However, when using position closed loop with zero velocity reference (no motion profiling), the application can instead use the position closed loop error by setting the Static Feedforward Sign configuration parameter. When doing so, we recommend the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.

      • Minimum Value: -128
      • Maximum Value: 127
      • Default Value: 0
      • Units:

    • kV

      public double kV
      Velocity feedforward gain.

      The units for this gain is dependent on the control mode. Since this gain is multiplied by the requested velocity, the units should be defined as units of output per unit of requested input velocity. For example, when controlling velocity using a duty cycle closed loop, the units for the velocity feedfoward gain will be duty cycle per requested rps, or 1/rps.

      • Minimum Value: 0
      • Maximum Value: 3.4e+38
      • Default Value: 0
      • Units:

    • kA

      public double kA
      Acceleration feedforward gain.

      The units for this gain is dependent on the control mode. Since this gain is multiplied by the requested acceleration, the units should be defined as units of output per unit of requested input acceleration. For example, when controlling velocity using a duty cycle closed loop, the units for the acceleration feedfoward gain will be duty cycle per requested rot per sec², or 1/(rot per sec²).

      • Minimum Value: 0
      • Maximum Value: 3.4e+38
      • Default Value: 0
      • Units:

    • kG

      public double kG
      Gravity feedforward/feedback gain. The type of gravity compensation is selected by GravityType.

      This is added to the closed loop output. The sign is determined by the gravity type. The unit for this constant is dependent on the control mode, typically fractional duty cycle, voltage, or torque current.

      • Minimum Value: -128
      • Maximum Value: 127
      • Default Value: 0
      • Units:

    • GravityType

      public GravityTypeValue GravityType
      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.

    • StaticFeedforwardSign

      public StaticFeedforwardSignValue StaticFeedforwardSign
      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 Magic® 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 sign of closed loop error instead. When doing so, we recommend using the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.

    • GravityArmPositionOffset

      public double GravityArmPositionOffset
      Gravity feedback position offset when using the Arm/Cosine gravity type.

      This is an offset applied to the position of the arm, within (-0.25, 0.25) rot, before calculating the output of kG. This is useful when the center of gravity of the arm is offset from the actual zero point of the arm, such as when the arm and intake form an L shape.

      • Minimum Value: -0.25
      • Maximum Value: 0.25
      • Default Value: 0
      • Units: rotations

    • GainSchedBehavior

      public GainSchedBehaviorValue GainSchedBehavior
      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 Details

  • Method Details

    • withKP

      public final Slot0Configs withKP(double newKP)
      Modifies this configuration's kP parameter and returns itself for method-chaining and easier to use config API.

      Proportional gain.

      The units for this gain is dependent on the control mode. Since this gain is multiplied by error in the input, the units should be defined as units of output per unit of input error. For example, when controlling velocity using a duty cycle closed loop, the units for the proportional gain will be duty cycle per rps of error, or 1/rps.

      • Minimum Value: 0
      • Maximum Value: 3.4e+38
      • Default Value: 0
      • Units:
      Parameters:
      newKP - Parameter to modify
      Returns:
      Itself

    • withKI

      public final Slot0Configs withKI(double newKI)
      Modifies this configuration's kI parameter and returns itself for method-chaining and easier to use config API.

      Integral gain.

      The units for this gain is dependent on the control mode. Since this gain is multiplied by error in the input integrated over time (in units of seconds), the units should be defined as units of output per unit of integrated input error. For example, when controlling velocity using a duty cycle closed loop, integrating velocity over time results in rps * s = rotations. Therefore, the units for the integral gain will be duty cycle per rotation of accumulated error, or 1/rot.

      • Minimum Value: 0
      • Maximum Value: 3.4e+38
      • Default Value: 0
      • Units:
      Parameters:
      newKI - Parameter to modify
      Returns:
      Itself

    • withKD

      public final Slot0Configs withKD(double newKD)
      Modifies this configuration's kD parameter and returns itself for method-chaining and easier to use config API.

      Derivative gain.

      The units for this gain is dependent on the control mode. Since this gain is multiplied by the derivative of error in the input with respect to time (in units of seconds), the units should be defined as units of output per unit of the differentiated input error. For example, when controlling velocity using a duty cycle closed loop, the derivative of velocity with respect to time is rot per sec², which is acceleration. Therefore, the units for the derivative gain will be duty cycle per unit of acceleration error, or 1/(rot per sec²).

      • Minimum Value: 0
      • Maximum Value: 3.4e+38
      • Default Value: 0
      • Units:
      Parameters:
      newKD - Parameter to modify
      Returns:
      Itself

    • withKS

      public final Slot0Configs withKS(double newKS)
      Modifies this configuration's kS parameter and returns itself for method-chaining and easier to use config API.

      Static feedforward gain.

      This is added to the closed loop output. The unit for this constant is dependent on the control mode, typically fractional duty cycle, voltage, or torque current.

      The sign is typically determined by reference velocity when using position, velocity, and Motion Magic® closed loop modes. However, when using position closed loop with zero velocity reference (no motion profiling), the application can instead use the position closed loop error by setting the Static Feedforward Sign configuration parameter. When doing so, we recommend the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.

      • Minimum Value: -128
      • Maximum Value: 127
      • Default Value: 0
      • Units:
      Parameters:
      newKS - Parameter to modify
      Returns:
      Itself

    • withKV

      public final Slot0Configs withKV(double newKV)
      Modifies this configuration's kV parameter and returns itself for method-chaining and easier to use config API.

      Velocity feedforward gain.

      The units for this gain is dependent on the control mode. Since this gain is multiplied by the requested velocity, the units should be defined as units of output per unit of requested input velocity. For example, when controlling velocity using a duty cycle closed loop, the units for the velocity feedfoward gain will be duty cycle per requested rps, or 1/rps.

      • Minimum Value: 0
      • Maximum Value: 3.4e+38
      • Default Value: 0
      • Units:
      Parameters:
      newKV - Parameter to modify
      Returns:
      Itself

    • withKA

      public final Slot0Configs withKA(double newKA)
      Modifies this configuration's kA parameter and returns itself for method-chaining and easier to use config API.

      Acceleration feedforward gain.

      The units for this gain is dependent on the control mode. Since this gain is multiplied by the requested acceleration, the units should be defined as units of output per unit of requested input acceleration. For example, when controlling velocity using a duty cycle closed loop, the units for the acceleration feedfoward gain will be duty cycle per requested rot per sec², or 1/(rot per sec²).

      • Minimum Value: 0
      • Maximum Value: 3.4e+38
      • Default Value: 0
      • Units:
      Parameters:
      newKA - Parameter to modify
      Returns:
      Itself

    • withKG

      public final Slot0Configs withKG(double newKG)
      Modifies this configuration's kG parameter and returns itself for method-chaining and easier to use config API.

      Gravity feedforward/feedback gain. The type of gravity compensation is selected by GravityType.

      This is added to the closed loop output. The sign is determined by the gravity type. The unit for this constant is dependent on the control mode, typically fractional duty cycle, voltage, or torque current.

      • Minimum Value: -128
      • Maximum Value: 127
      • Default Value: 0
      • Units:
      Parameters:
      newKG - Parameter to modify
      Returns:
      Itself

    • withGravityType

      public final Slot0Configs withGravityType(GravityTypeValue newGravityType)
      Modifies this configuration's GravityType parameter and returns itself for method-chaining and easier to use config API.

      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.

      Parameters:
      newGravityType - Parameter to modify
      Returns:
      Itself

    • withStaticFeedforwardSign

      public final Slot0Configs withStaticFeedforwardSign(StaticFeedforwardSignValue newStaticFeedforwardSign)
      Modifies this configuration's StaticFeedforwardSign parameter and returns itself for method-chaining and easier to use config API.

      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 Magic® 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 sign of closed loop error instead. When doing so, we recommend using the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.

      Parameters:
      newStaticFeedforwardSign - Parameter to modify
      Returns:
      Itself

    • withGravityArmPositionOffset

      public final Slot0Configs withGravityArmPositionOffset(double newGravityArmPositionOffset)
      Modifies this configuration's GravityArmPositionOffset parameter and returns itself for method-chaining and easier to use config API.

      Gravity feedback position offset when using the Arm/Cosine gravity type.

      This is an offset applied to the position of the arm, within (-0.25, 0.25) rot, before calculating the output of kG. This is useful when the center of gravity of the arm is offset from the actual zero point of the arm, such as when the arm and intake form an L shape.

      • Minimum Value: -0.25
      • Maximum Value: 0.25
      • Default Value: 0
      • Units: rotations
      Parameters:
      newGravityArmPositionOffset - Parameter to modify
      Returns:
      Itself

    • withGravityArmPositionOffset

      public final Slot0Configs withGravityArmPositionOffset(Angle newGravityArmPositionOffset)
      Modifies this configuration's GravityArmPositionOffset parameter and returns itself for method-chaining and easier to use config API.

      Gravity feedback position offset when using the Arm/Cosine gravity type.

      This is an offset applied to the position of the arm, within (-0.25, 0.25) rot, before calculating the output of kG. This is useful when the center of gravity of the arm is offset from the actual zero point of the arm, such as when the arm and intake form an L shape.

      • Minimum Value: -0.25
      • Maximum Value: 0.25
      • Default Value: 0
      • Units: rotations
      Parameters:
      newGravityArmPositionOffset - Parameter to modify
      Returns:
      Itself

    • getGravityArmPositionOffsetMeasure

      public final Angle getGravityArmPositionOffsetMeasure()
      Helper method to get this configuration's GravityArmPositionOffset parameter converted to a unit type. If not using the Java units library, GravityArmPositionOffset can be accessed directly instead.

      Gravity feedback position offset when using the Arm/Cosine gravity type.

      This is an offset applied to the position of the arm, within (-0.25, 0.25) rot, before calculating the output of kG. This is useful when the center of gravity of the arm is offset from the actual zero point of the arm, such as when the arm and intake form an L shape.

      • Minimum Value: -0.25
      • Maximum Value: 0.25
      • Default Value: 0
      • Units: rotations
      Returns:
      GravityArmPositionOffset

    • withGainSchedBehavior

      public final Slot0Configs withGainSchedBehavior(GainSchedBehaviorValue newGainSchedBehavior)
      Modifies this configuration's GainSchedBehavior parameter and returns itself for method-chaining and easier to use config API.

      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.

      Parameters:
      newGainSchedBehavior - Parameter to modify
      Returns:
      Itself

    • from

      public static Slot0Configs from(SlotConfigs value)
      Converts the provided value to an instance of this type.
      Parameters:
      value - The value to convert
      Returns:
      Converted value

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • serialize

      public final String serialize()
      Get the serialized form of this configuration group.
      Specified by:
      serialize in interface ISerializable
      Returns:
      Serialized form of this config group

    • deserialize

      public final StatusCode deserialize(String to_deserialize)
      Take a string and deserialize it to this configuration group.
      Specified by:
      deserialize in interface ParentConfiguration
      Returns:
      Return code of the deserialize method

    • clone

      public Slot0Configs clone()
      Overrides:
      clone in class Object