Package com.ctre.phoenix6.controls

Class ModulateVBatOut

java.lang.Object
com.ctre.phoenix6.controls.ModulateVBatOut
All Implemented Interfaces:
ControlRequest, Cloneable
public final class ModulateVBatOut extends Object implements ControlRequest, Cloneable
Modulates the CANdle VBat output to the specified duty cycle. This can be used to control a single-color LED strip.

Note that CANdleFeaturesConfigs.VBatOutputMode must be set to VBatOutputModeValue.Modulated.

  • Field Details

    • Output

      public double Output
      Proportion of VBat to output in fractional units between 0.0 and 1.0.
      • Units: fractional

    • UpdateFreqHz

      public double UpdateFreqHz
      The frequency at which this control will update. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

      If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

  • Constructor Details

    • ModulateVBatOut

      public ModulateVBatOut(double Output)
      Modulates the CANdle VBat output to the specified duty cycle. This can be used to control a single-color LED strip.

      Note that CANdleFeaturesConfigs.VBatOutputMode must be set to VBatOutputModeValue.Modulated.

      Parameters:
      Output - Proportion of VBat to output in fractional units between 0.0 and 1.0.

  • Method Details

    • getName

      public String getName()
      Description copied from interface: ControlRequest
      Gets the name of this control request.
      Specified by:
      getName in interface ControlRequest
      Returns:
      Name of the control request

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • sendRequest

      public StatusCode sendRequest(CANBus network, int deviceHash)
      Specified by:
      sendRequest in interface ControlRequest

    • getControlInfo

      public Map<String,String> getControlInfo()
      Gets information about this control request.
      Specified by:
      getControlInfo in interface ControlRequest
      Returns:
      Map of control parameter names and corresponding applied values

    • withOutput

      public ModulateVBatOut withOutput(double newOutput)
      Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.

      Proportion of VBat to output in fractional units between 0.0 and 1.0.

      • Units: fractional
      Parameters:
      newOutput - Parameter to modify
      Returns:
      Itself

    • withUpdateFreqHz

      public ModulateVBatOut withUpdateFreqHz(double newUpdateFreqHz)
      Sets the frequency at which this control will update. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

      If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

      Specified by:
      withUpdateFreqHz in interface ControlRequest
      Parameters:
      newUpdateFreqHz - Parameter to modify
      Returns:
      Itself

    • withUpdateFreqHz

      public ModulateVBatOut withUpdateFreqHz(Frequency newUpdateFreqHz)
      Sets the frequency at which this control will update. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

      If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

      Specified by:
      withUpdateFreqHz in interface ControlRequest
      Parameters:
      newUpdateFreqHz - Parameter to modify
      Returns:
      Itself

    • clone

      public ModulateVBatOut clone()
      Overrides:
      clone in class Object