Package com.ctre.phoenix6.configs

Class VoltageConfigs

java.lang.Object
com.ctre.phoenix6.configs.VoltageConfigs
All Implemented Interfaces:
ParentConfiguration, ISerializable, Cloneable
public class VoltageConfigs extends Object implements ParentConfiguration, Cloneable
Configs that affect Voltage control types.

Includes peak output voltages and other configs affecting voltage measurements.

  • Field Details

    • SupplyVoltageTimeConstant

      public double SupplyVoltageTimeConstant
      The time constant (in seconds) of the low-pass filter for the supply voltage.

      This impacts the filtering for the reported supply voltage, and any control strategies that use the supply voltage (such as voltage control on a motor controller).

      • Minimum Value: 0.0
      • Maximum Value: 0.1
      • Default Value: 0
      • Units: seconds

    • PeakForwardVoltage

      public double PeakForwardVoltage
      Maximum (forward) output during voltage based control modes.
      • Minimum Value: -32
      • Maximum Value: 32
      • Default Value: 16
      • Units: V

    • PeakReverseVoltage

      public double PeakReverseVoltage
      Minimum (reverse) output during voltage based control modes.
      • Minimum Value: -32
      • Maximum Value: 32
      • Default Value: -16
      • Units: V

  • Constructor Details

  • Method Details

    • withSupplyVoltageTimeConstant

      public final VoltageConfigs withSupplyVoltageTimeConstant(double newSupplyVoltageTimeConstant)
      Modifies this configuration's SupplyVoltageTimeConstant parameter and returns itself for method-chaining and easier to use config API.

      The time constant (in seconds) of the low-pass filter for the supply voltage.

      This impacts the filtering for the reported supply voltage, and any control strategies that use the supply voltage (such as voltage control on a motor controller).

      • Minimum Value: 0.0
      • Maximum Value: 0.1
      • Default Value: 0
      • Units: seconds
      Parameters:
      newSupplyVoltageTimeConstant - Parameter to modify
      Returns:
      Itself

    • withSupplyVoltageTimeConstant

      public final VoltageConfigs withSupplyVoltageTimeConstant(Time newSupplyVoltageTimeConstant)
      Modifies this configuration's SupplyVoltageTimeConstant parameter and returns itself for method-chaining and easier to use config API.

      The time constant (in seconds) of the low-pass filter for the supply voltage.

      This impacts the filtering for the reported supply voltage, and any control strategies that use the supply voltage (such as voltage control on a motor controller).

      • Minimum Value: 0.0
      • Maximum Value: 0.1
      • Default Value: 0
      • Units: seconds
      Parameters:
      newSupplyVoltageTimeConstant - Parameter to modify
      Returns:
      Itself

    • getSupplyVoltageTimeConstantMeasure

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

      The time constant (in seconds) of the low-pass filter for the supply voltage.

      This impacts the filtering for the reported supply voltage, and any control strategies that use the supply voltage (such as voltage control on a motor controller).

      • Minimum Value: 0.0
      • Maximum Value: 0.1
      • Default Value: 0
      • Units: seconds
      Returns:
      SupplyVoltageTimeConstant

    • withPeakForwardVoltage

      public final VoltageConfigs withPeakForwardVoltage(double newPeakForwardVoltage)
      Modifies this configuration's PeakForwardVoltage parameter and returns itself for method-chaining and easier to use config API.

      Maximum (forward) output during voltage based control modes.

      • Minimum Value: -32
      • Maximum Value: 32
      • Default Value: 16
      • Units: V
      Parameters:
      newPeakForwardVoltage - Parameter to modify
      Returns:
      Itself

    • withPeakForwardVoltage

      public final VoltageConfigs withPeakForwardVoltage(Voltage newPeakForwardVoltage)
      Modifies this configuration's PeakForwardVoltage parameter and returns itself for method-chaining and easier to use config API.

      Maximum (forward) output during voltage based control modes.

      • Minimum Value: -32
      • Maximum Value: 32
      • Default Value: 16
      • Units: V
      Parameters:
      newPeakForwardVoltage - Parameter to modify
      Returns:
      Itself

    • getPeakForwardVoltageMeasure

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

      Maximum (forward) output during voltage based control modes.

      • Minimum Value: -32
      • Maximum Value: 32
      • Default Value: 16
      • Units: V
      Returns:
      PeakForwardVoltage

    • withPeakReverseVoltage

      public final VoltageConfigs withPeakReverseVoltage(double newPeakReverseVoltage)
      Modifies this configuration's PeakReverseVoltage parameter and returns itself for method-chaining and easier to use config API.

      Minimum (reverse) output during voltage based control modes.

      • Minimum Value: -32
      • Maximum Value: 32
      • Default Value: -16
      • Units: V
      Parameters:
      newPeakReverseVoltage - Parameter to modify
      Returns:
      Itself

    • withPeakReverseVoltage

      public final VoltageConfigs withPeakReverseVoltage(Voltage newPeakReverseVoltage)
      Modifies this configuration's PeakReverseVoltage parameter and returns itself for method-chaining and easier to use config API.

      Minimum (reverse) output during voltage based control modes.

      • Minimum Value: -32
      • Maximum Value: 32
      • Default Value: -16
      • Units: V
      Parameters:
      newPeakReverseVoltage - Parameter to modify
      Returns:
      Itself

    • getPeakReverseVoltageMeasure

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

      Minimum (reverse) output during voltage based control modes.

      • Minimum Value: -32
      • Maximum Value: 32
      • Default Value: -16
      • Units: V
      Returns:
      PeakReverseVoltage

    • 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 VoltageConfigs clone()
      Overrides:
      clone in class Object