30 virtual ctre::phoenix::StatusCode
Deserialize(
const std::string &
string) = 0;
72 ss <<
"{" << std::endl;
73 ss <<
"Config Group: MagnetSensor" << std::endl;
74 ss <<
"Name: \"SensorDirection\" Value: \"" <<
SensorDirection <<
"\"" << std::endl;
75 ss <<
"Name: \"MagnetOffset\" Value: \"" <<
MagnetOffset <<
"rotations\"" << std::endl;
76 ss <<
"Name: \"AbsoluteSensorRange\" Value: \"" <<
AbsoluteSensorRange <<
"\"" << std::endl;
77 ss <<
"}" << std::endl;
91 ctre::phoenix::StatusCode
Deserialize(
const std::string&
string)
93 const char *string_c_str =
string.c_str();
94 size_t string_length =
string.length();
143 std::stringstream ss;
144 ss <<
"{" << std::endl;
145 ss <<
"Config Group: MountPose" << std::endl;
146 ss <<
"Name: \"MountPoseYaw\" Value: \"" <<
MountPoseYaw <<
"deg\"" << std::endl;
147 ss <<
"Name: \"MountPosePitch\" Value: \"" <<
MountPosePitch <<
"deg\"" << std::endl;
148 ss <<
"Name: \"MountPoseRoll\" Value: \"" <<
MountPoseRoll <<
"deg\"" << std::endl;
149 ss <<
"}" << std::endl;
155 std::stringstream ss;
165 const char *string_c_str =
string.c_str();
166 size_t string_length =
string.length();
217 std::stringstream ss;
218 ss <<
"{" << std::endl;
219 ss <<
"Config Group: GyroTrim" << std::endl;
220 ss <<
"Name: \"GyroScalarX\" Value: \"" <<
GyroScalarX <<
"deg per rotation\"" << std::endl;
221 ss <<
"Name: \"GyroScalarY\" Value: \"" <<
GyroScalarY <<
"deg per rotation\"" << std::endl;
222 ss <<
"Name: \"GyroScalarZ\" Value: \"" <<
GyroScalarZ <<
"deg per rotation\"" << std::endl;
223 ss <<
"}" << std::endl;
229 std::stringstream ss;
239 const char *string_c_str =
string.c_str();
240 size_t string_length =
string.length();
282 std::stringstream ss;
283 ss <<
"{" << std::endl;
284 ss <<
"Config Group: Pigeon2Features" << std::endl;
285 ss <<
"Name: \"EnableCompass\" Value: \"" <<
EnableCompass <<
"\"" << std::endl;
288 ss <<
"}" << std::endl;
294 std::stringstream ss;
304 const char *string_c_str =
string.c_str();
305 size_t string_length =
string.length();
409 std::stringstream ss;
410 ss <<
"{" << std::endl;
411 ss <<
"Config Group: Slot0" << std::endl;
412 ss <<
"Name: \"kP\" Value: \"" <<
kP <<
"\"" << std::endl;
413 ss <<
"Name: \"kI\" Value: \"" <<
kI <<
"\"" << std::endl;
414 ss <<
"Name: \"kD\" Value: \"" <<
kD <<
"\"" << std::endl;
415 ss <<
"Name: \"kV\" Value: \"" <<
kV <<
"\"" << std::endl;
416 ss <<
"Name: \"kS\" Value: \"" <<
kS <<
"\"" << std::endl;
417 ss <<
"}" << std::endl;
423 std::stringstream ss;
435 const char *string_c_str =
string.c_str();
436 size_t string_length =
string.length();
542 std::stringstream ss;
543 ss <<
"{" << std::endl;
544 ss <<
"Config Group: Slot1" << std::endl;
545 ss <<
"Name: \"kP\" Value: \"" <<
kP <<
"\"" << std::endl;
546 ss <<
"Name: \"kI\" Value: \"" <<
kI <<
"\"" << std::endl;
547 ss <<
"Name: \"kD\" Value: \"" <<
kD <<
"\"" << std::endl;
548 ss <<
"Name: \"kV\" Value: \"" <<
kV <<
"\"" << std::endl;
549 ss <<
"Name: \"kS\" Value: \"" <<
kS <<
"\"" << std::endl;
550 ss <<
"}" << std::endl;
556 std::stringstream ss;
568 const char *string_c_str =
string.c_str();
569 size_t string_length =
string.length();
675 std::stringstream ss;
676 ss <<
"{" << std::endl;
677 ss <<
"Config Group: Slot2" << std::endl;
678 ss <<
"Name: \"kP\" Value: \"" <<
kP <<
"\"" << std::endl;
679 ss <<
"Name: \"kI\" Value: \"" <<
kI <<
"\"" << std::endl;
680 ss <<
"Name: \"kD\" Value: \"" <<
kD <<
"\"" << std::endl;
681 ss <<
"Name: \"kV\" Value: \"" <<
kV <<
"\"" << std::endl;
682 ss <<
"Name: \"kS\" Value: \"" <<
kS <<
"\"" << std::endl;
683 ss <<
"}" << std::endl;
689 std::stringstream ss;
701 const char *string_c_str =
string.c_str();
702 size_t string_length =
string.length();
764 std::stringstream ss;
765 ss <<
"{" << std::endl;
766 ss <<
"Config Group: MotorOutput" << std::endl;
767 ss <<
"Name: \"Inverted\" Value: \"" <<
Inverted <<
"\"" << std::endl;
768 ss <<
"Name: \"NeutralMode\" Value: \"" <<
NeutralMode <<
"\"" << std::endl;
770 ss <<
"Name: \"PeakForwardDutyCycle\" Value: \"" <<
PeakForwardDutyCycle <<
"fractional\"" << std::endl;
771 ss <<
"Name: \"PeakReverseDutyCycle\" Value: \"" <<
PeakReverseDutyCycle <<
"fractional\"" << std::endl;
772 ss <<
"}" << std::endl;
778 std::stringstream ss;
790 const char *string_c_str =
string.c_str();
791 size_t string_length =
string.length();
873 std::stringstream ss;
874 ss <<
"{" << std::endl;
875 ss <<
"Config Group: CurrentLimits" << std::endl;
876 ss <<
"Name: \"StatorCurrentLimit\" Value: \"" <<
StatorCurrentLimit <<
"A\"" << std::endl;
878 ss <<
"Name: \"SupplyCurrentLimit\" Value: \"" <<
SupplyCurrentLimit <<
"A\"" << std::endl;
881 ss <<
"Name: \"SupplyTimeThreshold\" Value: \"" <<
SupplyTimeThreshold <<
"sec\"" << std::endl;
882 ss <<
"}" << std::endl;
888 std::stringstream ss;
901 const char *string_c_str =
string.c_str();
902 size_t string_length =
string.length();
957 std::stringstream ss;
958 ss <<
"{" << std::endl;
959 ss <<
"Config Group: Voltage" << std::endl;
961 ss <<
"Name: \"PeakForwardVoltage\" Value: \"" <<
PeakForwardVoltage <<
"V\"" << std::endl;
962 ss <<
"Name: \"PeakReverseVoltage\" Value: \"" <<
PeakReverseVoltage <<
"V\"" << std::endl;
963 ss <<
"}" << std::endl;
969 std::stringstream ss;
979 const char *string_c_str =
string.c_str();
980 size_t string_length =
string.length();
1030 std::stringstream ss;
1031 ss <<
"{" << std::endl;
1032 ss <<
"Config Group: TorqueCurrent" << std::endl;
1036 ss <<
"}" << std::endl;
1042 std::stringstream ss;
1052 const char *string_c_str =
string.c_str();
1053 size_t string_length =
string.length();
1142 std::stringstream ss;
1143 ss <<
"{" << std::endl;
1144 ss <<
"Config Group: Feedback" << std::endl;
1145 ss <<
"Name: \"FeedbackRotorOffset\" Value: \"" <<
FeedbackRotorOffset <<
"rotations\"" << std::endl;
1147 ss <<
"Name: \"RotorToSensorRatio\" Value: \"" <<
RotorToSensorRatio <<
"scalar\"" << std::endl;
1150 ss <<
"}" << std::endl;
1156 std::stringstream ss;
1168 const char *string_c_str =
string.c_str();
1169 size_t string_length =
string.length();
1221 std::stringstream ss;
1222 ss <<
"{" << std::endl;
1223 ss <<
"Config Group: OpenLoopRamps" << std::endl;
1227 ss <<
"}" << std::endl;
1233 std::stringstream ss;
1243 const char *string_c_str =
string.c_str();
1244 size_t string_length =
string.length();
1294 std::stringstream ss;
1295 ss <<
"{" << std::endl;
1296 ss <<
"Config Group: ClosedLoopRamps" << std::endl;
1300 ss <<
"}" << std::endl;
1306 std::stringstream ss;
1316 const char *string_c_str =
string.c_str();
1317 size_t string_length =
string.length();
1429 std::stringstream ss;
1430 ss <<
"{" << std::endl;
1431 ss <<
"Config Group: HardwareLimitSwitch" << std::endl;
1432 ss <<
"Name: \"ForwardLimitType\" Value: \"" <<
ForwardLimitType <<
"\"" << std::endl;
1435 ss <<
"Name: \"ForwardLimitEnable\" Value: \"" <<
ForwardLimitEnable <<
"\"" << std::endl;
1436 ss <<
"Name: \"ForwardLimitSource\" Value: \"" <<
ForwardLimitSource <<
"\"" << std::endl;
1438 ss <<
"Name: \"ReverseLimitType\" Value: \"" <<
ReverseLimitType <<
"\"" << std::endl;
1441 ss <<
"Name: \"ReverseLimitEnable\" Value: \"" <<
ReverseLimitEnable <<
"\"" << std::endl;
1442 ss <<
"Name: \"ReverseLimitSource\" Value: \"" <<
ReverseLimitSource <<
"\"" << std::endl;
1444 ss <<
"}" << std::endl;
1450 std::stringstream ss;
1469 const char *string_c_str =
string.c_str();
1470 size_t string_length =
string.length();
1508 std::stringstream ss;
1509 ss <<
"{" << std::endl;
1510 ss <<
"Config Group: Audio" << std::endl;
1511 ss <<
"Name: \"BeepOnBoot\" Value: \"" <<
BeepOnBoot <<
"\"" << std::endl;
1512 ss <<
"}" << std::endl;
1518 std::stringstream ss;
1526 const char *string_c_str =
string.c_str();
1527 size_t string_length =
string.length();
1579 std::stringstream ss;
1580 ss <<
"{" << std::endl;
1581 ss <<
"Config Group: SoftwareLimitSwitch" << std::endl;
1586 ss <<
"}" << std::endl;
1592 std::stringstream ss;
1603 const char *string_c_str =
string.c_str();
1604 size_t string_length =
string.length();
1657 std::stringstream ss;
1658 ss <<
"{" << std::endl;
1659 ss <<
"Config Group: MotionMagic" << std::endl;
1661 ss <<
"Name: \"MotionMagicAcceleration\" Value: \"" <<
MotionMagicAcceleration <<
"rot per sec²\"" << std::endl;
1662 ss <<
"Name: \"MotionMagicJerk\" Value: \"" <<
MotionMagicJerk <<
"rot per sec³\"" << std::endl;
1663 ss <<
"}" << std::endl;
1669 std::stringstream ss;
1679 const char *string_c_str =
string.c_str();
1680 size_t string_length =
string.length();
1720 std::stringstream ss;
1721 ss <<
"{" << std::endl;
1722 ss <<
"Config Group: CustomParams" << std::endl;
1723 ss <<
"Name: \"CustomParam0\" Value: \"" <<
CustomParam0 <<
"\"" << std::endl;
1724 ss <<
"Name: \"CustomParam1\" Value: \"" <<
CustomParam1 <<
"\"" << std::endl;
1725 ss <<
"}" << std::endl;
1731 std::stringstream ss;
1740 const char *string_c_str =
string.c_str();
1741 size_t string_length =
string.length();
1773 std::stringstream ss;
1774 ss <<
"{" << std::endl;
1775 ss <<
"Config Group: ClosedLoopGeneral" << std::endl;
1776 ss <<
"Name: \"ContinuousWrap\" Value: \"" <<
ContinuousWrap <<
"\"" << std::endl;
1777 ss <<
"}" << std::endl;
1783 std::stringstream ss;
1791 const char *string_c_str =
string.c_str();
1792 size_t string_length =
string.length();
ii that the Software will be uninterrupted or error free
Definition: CTRE_LICENSE.txt:191
CTREXPORT int c_ctre_phoenixpro_deserialize_int(int spn, const char *str, uint32_t strlen, int *val)
CTREXPORT int c_ctre_phoenixpro_deserialize_bool(int spn, const char *str, uint32_t strlen, bool *val)
CTREXPORT int c_ctre_phoenixpro_serialize_double(int spn, double value, char **str)
CTREXPORT int c_ctre_phoenixpro_deserialize_double(int spn, const char *str, uint32_t strlen, double *val)
CTREXPORT int c_ctre_phoenixpro_serialize_int(int spn, int value, char **str)
CTREXPORT int c_ctre_phoenixpro_serialize_bool(int spn, bool value, char **str)
Definition: Serializable.hpp:15
Configs that directly affect motor-output.
Definition: Configs.hpp:1494
bool BeepOnBoot
If true, the TalonFX will beep during boot-up.
Definition: Configs.hpp:1504
std::string ToString() const
Definition: Configs.hpp:1506
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:1524
std::string Serialize() const
Definition: Configs.hpp:1516
Configs that affect general behavior during closed-looping.
Definition: Configs.hpp:1755
std::string Serialize() const
Definition: Configs.hpp:1781
bool ContinuousWrap
Wrap position error within [-0.5,+0.5) mechanism rotations.
Definition: Configs.hpp:1769
std::string ToString() const
Definition: Configs.hpp:1771
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:1789
Configs that directly affect motor-output.
Definition: Configs.hpp:1259
double DutyCycleClosedLoopRampPeriod
If non-zero, this determines how much time to ramp from 0% output to 100% during closed-loop modes.
Definition: Configs.hpp:1270
std::string ToString() const
Definition: Configs.hpp:1292
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:1314
double VoltageClosedLoopRampPeriod
If non-zero, this determines how much time to ramp from 0V output to 12V during closed-loop modes.
Definition: Configs.hpp:1280
std::string Serialize() const
Definition: Configs.hpp:1304
double TorqueClosedLoopRampPeriod
If non-zero, this determines how much time to ramp from 0A output to 300A during closed-loop modes.
Definition: Configs.hpp:1290
Configs that directly affect current limiting features.
Definition: Configs.hpp:808
double SupplyTimeThreshold
Allows unlimited current for a period of time before current limiting occurs.
Definition: Configs.hpp:869
bool SupplyCurrentLimitEnable
Enable motor supply current limiting.
Definition: Configs.hpp:846
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:899
double StatorCurrentLimit
The amount of current allowed in the motor (motoring and regen current).
Definition: Configs.hpp:821
double SupplyCurrentThreshold
Delay supply current limiting until current exceeds this threshold for longer than SupplyTimeThreshol...
Definition: Configs.hpp:858
double SupplyCurrentLimit
The amount of supply current allowed.
Definition: Configs.hpp:840
std::string Serialize() const
Definition: Configs.hpp:886
std::string ToString() const
Definition: Configs.hpp:871
bool StatorCurrentLimitEnable
Enable motor stator current limiting.
Definition: Configs.hpp:827
Configs that directly affect motor-output.
Definition: Configs.hpp:1695
int CustomParam0
Custom parameter 0.
Definition: Configs.hpp:1706
std::string ToString() const
Definition: Configs.hpp:1718
std::string Serialize() const
Definition: Configs.hpp:1729
int CustomParam1
Custom parameter 1.
Definition: Configs.hpp:1716
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:1738
Configs that directly affect motor-output.
Definition: Configs.hpp:1068
double SensorToMechanismRatio
This is the ratio of sensor rotations to the mechanism's output.
Definition: Configs.hpp:1093
double RotorToSensorRatio
Talon FX is capable of fusing a remote CANcoder with its rotor sensor to produce a high-bandwidth sen...
Definition: Configs.hpp:1106
int FeedbackRemoteSensorID
Device ID of which remote device to use.
Definition: Configs.hpp:1138
signals::FeedbackSensorSourceValue FeedbackSensorSource
Choose what sensor source is reported via API and used by closed-loop and limit features.
Definition: Configs.hpp:1128
std::string ToString() const
Definition: Configs.hpp:1140
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:1166
double FeedbackRotorOffset
This offset is applied to the absolute integrated rotor sensor.
Definition: Configs.hpp:1080
std::string Serialize() const
Definition: Configs.hpp:1154
Configs to trim the Pigeon2's gyroscope.
Definition: Configs.hpp:185
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:237
double GyroScalarX
The gyro scalar component for the X axis.
Definition: Configs.hpp:195
double GyroScalarY
The gyro scalar component for the Y axis.
Definition: Configs.hpp:204
double GyroScalarZ
The gyro scalar component for the Z axis.
Definition: Configs.hpp:213
std::string ToString() const
Definition: Configs.hpp:215
std::string Serialize() const
Definition: Configs.hpp:227
Configs that directly affect motor-output.
Definition: Configs.hpp:1332
bool ReverseLimitAutosetPositionEnable
If enabled, the position is auto-set to a specific value, specified by ReverseLimitAutosetPositionVal...
Definition: Configs.hpp:1392
int ReverseLimitRemoteSensorID
Device ID of the device if using remote limit switch features.
Definition: Configs.hpp:1425
bool ForwardLimitEnable
If enabled, motor output is set to neutral when forward limit switch is asseted and positive output i...
Definition: Configs.hpp:1363
std::string ToString() const
Definition: Configs.hpp:1427
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:1467
signals::ForwardLimitSourceValue ForwardLimitSource
Determines where to poll the forward limit switch.
Definition: Configs.hpp:1369
signals::ReverseLimitSourceValue ReverseLimitSource
Determines where to poll the reverse limit switch.
Definition: Configs.hpp:1415
double ForwardLimitAutosetPositionValue
The value to auto-set the position to.
Definition: Configs.hpp:1356
double ReverseLimitAutosetPositionValue
The value to auto-set the position to.
Definition: Configs.hpp:1402
signals::ReverseLimitTypeValue ReverseLimitType
Determines if limit is normally-open (default) or normally-closed.
Definition: Configs.hpp:1385
bool ForwardLimitAutosetPositionEnable
If enabled, the position is auto-set to a specific value, specified by ForwardLimitAutosetPositionVal...
Definition: Configs.hpp:1346
int ForwardLimitRemoteSensorID
Device ID of the device if using remote limit switch features.
Definition: Configs.hpp:1379
bool ReverseLimitEnable
If enabled, motor output is set to neutral when reverse limit switch is asseted and positive output i...
Definition: Configs.hpp:1409
signals::ForwardLimitTypeValue ForwardLimitType
Determines if limit is normally-open (default) or normally-closed.
Definition: Configs.hpp:1339
std::string Serialize() const
Definition: Configs.hpp:1448
Configs that affect the magnet sensor and how to interpret it.
Definition: Configs.hpp:42
double MagnetOffset
This offset is added to the reported position, allowing the application to trim the zero position.
Definition: Configs.hpp:61
std::string Serialize() const
Definition: Configs.hpp:81
signals::AbsoluteSensorRangeValue AbsoluteSensorRange
The range of the absolute sensor, either [0, 1) or [-0.5, 0.5).
Definition: Configs.hpp:67
std::string ToString() const
Definition: Configs.hpp:69
signals::SensorDirectionValue SensorDirection
Direction of the sensor to determine positive facing the LED side of the CANcoder.
Definition: Configs.hpp:49
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:91
Configs that directly affect motor-output.
Definition: Configs.hpp:1620
double MotionMagicAcceleration
This is the target acceleration Motion Magic® based control modes are allowed to use.
Definition: Configs.hpp:1641
std::string ToString() const
Definition: Configs.hpp:1655
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:1677
std::string Serialize() const
Definition: Configs.hpp:1667
double MotionMagicJerk
This is the target jerk (acceleration derivative) Motion Magic® based control modes are allowed to us...
Definition: Configs.hpp:1653
double MotionMagicCruiseVelocity
This is the maximum velocity Motion Magic® based control modes are allowed to use.
Definition: Configs.hpp:1631
Configs that directly affect motor-output.
Definition: Configs.hpp:719
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:788
std::string ToString() const
Definition: Configs.hpp:762
std::string Serialize() const
Definition: Configs.hpp:776
signals::InvertedValue Inverted
Invert state of the device.
Definition: Configs.hpp:725
double DutyCycleNeutralDeadband
Configures the output deadband percentage.
Definition: Configs.hpp:740
double PeakForwardDutyCycle
Maximum (forward) output during duty cycle based control modes.
Definition: Configs.hpp:750
double PeakReverseDutyCycle
Minimum (reverse) output during duty cycle based control modes.
Definition: Configs.hpp:760
signals::NeutralModeValue NeutralMode
The state of the motor controller bridge when output is neutral or disabled.
Definition: Configs.hpp:731
Configs for Pigeon 2's Mount Pose configuration.
Definition: Configs.hpp:111
double MountPosePitch
The mounting calibration pitch-component.
Definition: Configs.hpp:130
std::string Serialize() const
Definition: Configs.hpp:153
double MountPoseRoll
The mounting calibration roll-component.
Definition: Configs.hpp:139
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:163
std::string ToString() const
Definition: Configs.hpp:141
double MountPoseYaw
The mounting calibration yaw-component.
Definition: Configs.hpp:121
Configs that directly affect motor-output.
Definition: Configs.hpp:1186
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:1241
double VoltageOpenLoopRampPeriod
If non-zero, this determines how much time to ramp from 0V output to 12V during open-loop modes.
Definition: Configs.hpp:1207
std::string ToString() const
Definition: Configs.hpp:1219
double TorqueOpenLoopRampPeriod
If non-zero, this determines how much time to ramp from 0A output to 300A during open-loop modes.
Definition: Configs.hpp:1217
std::string Serialize() const
Definition: Configs.hpp:1231
double DutyCycleOpenLoopRampPeriod
If non-zero, this determines how much time to ramp from 0% output to 100% during open-loop modes.
Definition: Configs.hpp:1197
Definition: Configs.hpp:22
friend std::ostream & operator<<(std::ostream &str, const ParentConfiguration &v)
Definition: Configs.hpp:25
virtual std::string ToString() const =0
virtual ctre::phoenix::StatusCode Deserialize(const std::string &string)=0
Configs to enable/disable various features of the Pigeon2.
Definition: Configs.hpp:256
bool EnableCompass
Turns on or off the magnetometer fusing for 9-axis.
Definition: Configs.hpp:266
std::string ToString() const
Definition: Configs.hpp:280
bool DisableTemperatureCompensation
Disables using the temperature compensation feature.
Definition: Configs.hpp:272
bool DisableNoMotionCalibration
Disables using the no-motion calibration feature.
Definition: Configs.hpp:278
std::string Serialize() const
Definition: Configs.hpp:292
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:302
What the gains for slot 0 are.
Definition: Configs.hpp:321
std::string Serialize() const
Definition: Configs.hpp:421
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:433
double kP
Proportional Gain.
Definition: Configs.hpp:338
std::string ToString() const
Definition: Configs.hpp:407
double kD
Derivative Gain.
Definition: Configs.hpp:375
double kI
Integral Gain.
Definition: Configs.hpp:356
double kV
Velocity Feed Forward Gain.
Definition: Configs.hpp:391
double kS
Static Constant.
Definition: Configs.hpp:405
What the gains for slot 1 are.
Definition: Configs.hpp:454
std::string ToString() const
Definition: Configs.hpp:540
double kV
Velocity Feed Forward Gain.
Definition: Configs.hpp:524
double kD
Derivative Gain.
Definition: Configs.hpp:508
std::string Serialize() const
Definition: Configs.hpp:554
double kI
Integral Gain.
Definition: Configs.hpp:489
double kP
Proportional Gain.
Definition: Configs.hpp:471
double kS
Static Constant.
Definition: Configs.hpp:538
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:566
What the gains for slot 2 are.
Definition: Configs.hpp:587
double kP
Proportional Gain.
Definition: Configs.hpp:604
double kD
Derivative Gain.
Definition: Configs.hpp:641
double kS
Static Constant.
Definition: Configs.hpp:671
std::string ToString() const
Definition: Configs.hpp:673
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:699
std::string Serialize() const
Definition: Configs.hpp:687
double kI
Integral Gain.
Definition: Configs.hpp:622
double kV
Velocity Feed Forward Gain.
Definition: Configs.hpp:657
Configs that directly affect motor-output.
Definition: Configs.hpp:1540
double ForwardSoftLimitThreshold
Position threshold for forward soft limit features.
Definition: Configs.hpp:1565
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:1601
double ReverseSoftLimitThreshold
Position threshold for reverse soft limit features.
Definition: Configs.hpp:1575
bool ReverseSoftLimitEnable
If enabled, the motor output is set to neutral if position exceeds ReverseSoftLimitThreshold and reve...
Definition: Configs.hpp:1555
std::string Serialize() const
Definition: Configs.hpp:1590
bool ForwardSoftLimitEnable
If enabled, the motor output is set to neutral if position exceeds ForwardSoftLimitThreshold and forw...
Definition: Configs.hpp:1548
std::string ToString() const
Definition: Configs.hpp:1577
Configs that directly affect motor-output.
Definition: Configs.hpp:995
double PeakReverseTorqueCurrent
Minimum (reverse) output during torque current based control modes.
Definition: Configs.hpp:1016
std::string Serialize() const
Definition: Configs.hpp:1040
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:1050
std::string ToString() const
Definition: Configs.hpp:1028
double TorqueNeutralDeadband
Configures the output deadband during torque current based control modes.
Definition: Configs.hpp:1026
double PeakForwardTorqueCurrent
Maximum (forward) output during torque current based control modes.
Definition: Configs.hpp:1006
Voltage-specific configs.
Definition: Configs.hpp:920
double PeakForwardVoltage
Maximum (forward) output during voltage based control modes.
Definition: Configs.hpp:944
ctre::phoenix::StatusCode Deserialize(const std::string &string)
Definition: Configs.hpp:977
std::string Serialize() const
Definition: Configs.hpp:967
std::string ToString() const
Definition: Configs.hpp:955
double SupplyVoltageTimeConstant
The time constant (in seconds) of the low-pass filter for the supply voltage.
Definition: Configs.hpp:935
double PeakReverseVoltage
Minimum (reverse) output during voltage based control modes.
Definition: Configs.hpp:953
The range of the absolute sensor, either [0, 1) or [-0.5, 0.5).
Definition: SpnEnums.hpp:680
int value
Definition: SpnEnums.hpp:682
static constexpr int Unsigned_0To1
Definition: SpnEnums.hpp:684
Choose what sensor source is reported via API and used by closed-loop and limit features.
Definition: SpnEnums.hpp:1332
static constexpr int RotorSensor
Definition: SpnEnums.hpp:1336
int value
Definition: SpnEnums.hpp:1334
Determines where to poll the forward limit switch.
Definition: SpnEnums.hpp:1465
static constexpr int LimitSwitchPin
Definition: SpnEnums.hpp:1469
int value
Definition: SpnEnums.hpp:1467
Determines if limit is normally-open (default) or normally-closed.
Definition: SpnEnums.hpp:1399
static constexpr int NormallyOpen
Definition: SpnEnums.hpp:1403
int value
Definition: SpnEnums.hpp:1401
Invert state of the device.
Definition: SpnEnums.hpp:1185
int value
Definition: SpnEnums.hpp:1187
static constexpr int CounterClockwise_Positive
Definition: SpnEnums.hpp:1189
The state of the motor controller bridge when output is neutral or disabled.
Definition: SpnEnums.hpp:1251
int value
Definition: SpnEnums.hpp:1253
static constexpr int Coast
Definition: SpnEnums.hpp:1255
Determines where to poll the reverse limit switch.
Definition: SpnEnums.hpp:1594
static constexpr int LimitSwitchPin
Definition: SpnEnums.hpp:1598
int value
Definition: SpnEnums.hpp:1596
Determines if limit is normally-open (default) or normally-closed.
Definition: SpnEnums.hpp:1528
static constexpr int NormallyOpen
Definition: SpnEnums.hpp:1532
int value
Definition: SpnEnums.hpp:1530
Direction of the sensor to determine positive facing the LED side of the CANcoder.
Definition: SpnEnums.hpp:177
static constexpr int CounterClockwise_Positive
Definition: SpnEnums.hpp:181
int value
Definition: SpnEnums.hpp:179
static constexpr int Config_ReverseLimitSource
Definition: SpnValue.hpp:178
static constexpr int Slot2_kP
Definition: SpnValue.hpp:136
static constexpr int Config_SupplyCurrentLimit
Definition: SpnValue.hpp:148
static constexpr int Config_PeakRevTorqCurr
Definition: SpnValue.hpp:155
static constexpr int Config_DutyCycleNeutralDB
Definition: SpnValue.hpp:145
static constexpr int Config_StatorCurrentLimit
Definition: SpnValue.hpp:146
static constexpr int Config_TorqueNeutralDB
Definition: SpnValue.hpp:156
static constexpr int Config_ReverseSoftLimitThreshold
Definition: SpnValue.hpp:183
static constexpr int Config_PeakReverseDC
Definition: SpnValue.hpp:151
static constexpr int Config_RotorToSensorRatio
Definition: SpnValue.hpp:159
static constexpr int Slot0_kI
Definition: SpnValue.hpp:127
static constexpr int Config_ForwardSoftLimitEnable
Definition: SpnValue.hpp:180
static constexpr int Config_TorqueClosedLoopRampPeriod
Definition: SpnValue.hpp:167
static constexpr int Config_ForwardLimitAutosetPosValue
Definition: SpnValue.hpp:170
static constexpr int Pigeon2DisableTemperatureCompensation
Definition: SpnValue.hpp:45
static constexpr int Config_PeakForwardDC
Definition: SpnValue.hpp:150
static constexpr int Slot2_kD
Definition: SpnValue.hpp:138
static constexpr int CustomParam1
Definition: SpnValue.hpp:34
static constexpr int Config_SensorToMechanismRatio
Definition: SpnValue.hpp:158
static constexpr int Slot2_kI
Definition: SpnValue.hpp:137
static constexpr int Pigeon2MountPoseYaw
Definition: SpnValue.hpp:47
static constexpr int Config_FeedbackRemoteSensorID
Definition: SpnValue.hpp:161
static constexpr int Config_ForwardLimitAutosetPosEnable
Definition: SpnValue.hpp:169
static constexpr int Pigeon2GyroScalarY
Definition: SpnValue.hpp:51
static constexpr int Pigeon2GyroScalarX
Definition: SpnValue.hpp:50
static constexpr int Config_StatorCurrLimitEn
Definition: SpnValue.hpp:147
static constexpr int Config_NeutralMode
Definition: SpnValue.hpp:144
static constexpr int Config_BeepOnBoot
Definition: SpnValue.hpp:143
static constexpr int Slot2_kV
Definition: SpnValue.hpp:139
static constexpr int Config_DutyCycleClosedLoopRampPeriod
Definition: SpnValue.hpp:165
static constexpr int Slot0_kV
Definition: SpnValue.hpp:129
static constexpr int Config_ContinuousWrap
Definition: SpnValue.hpp:195
static constexpr int Config_MotionMagicAcceleration
Definition: SpnValue.hpp:185
static constexpr int Config_ReverseLimitType
Definition: SpnValue.hpp:174
static constexpr int CANcoder_SensorDirection
Definition: SpnValue.hpp:35
static constexpr int Slot1_kS
Definition: SpnValue.hpp:135
static constexpr int Config_MotionMagicJerk
Definition: SpnValue.hpp:186
static constexpr int Config_PeakReverseV
Definition: SpnValue.hpp:153
static constexpr int Slot0_kS
Definition: SpnValue.hpp:130
static constexpr int Config_ForwardLimitRemoteSensorID
Definition: SpnValue.hpp:173
static constexpr int Slot1_kD
Definition: SpnValue.hpp:133
static constexpr int Slot1_kV
Definition: SpnValue.hpp:134
static constexpr int Pigeon2MountPosePitch
Definition: SpnValue.hpp:48
static constexpr int Config_VoltageClosedLoopRampPeriod
Definition: SpnValue.hpp:166
static constexpr int Slot1_kI
Definition: SpnValue.hpp:132
static constexpr int CANCoder_MagnetOffset
Definition: SpnValue.hpp:84
static constexpr int Config_ReverseSoftLimitEnable
Definition: SpnValue.hpp:181
static constexpr int Config_SupplyTimeThres
Definition: SpnValue.hpp:197
static constexpr int Config_ForwardLimitSource
Definition: SpnValue.hpp:172
static constexpr int Slot0_kP
Definition: SpnValue.hpp:126
static constexpr int CANcoder_AbsoluteSensorRange
Definition: SpnValue.hpp:85
static constexpr int Config_Inverted
Definition: SpnValue.hpp:141
static constexpr int Config_ReverseLimitEnable
Definition: SpnValue.hpp:177
static constexpr int Config_PeakForwardV
Definition: SpnValue.hpp:152
static constexpr int Config_SupplyCurrLimitEn
Definition: SpnValue.hpp:149
static constexpr int Config_FeedbackSensorSource
Definition: SpnValue.hpp:160
static constexpr int Config_ReverseLimitRemoteSensorID
Definition: SpnValue.hpp:179
static constexpr int Config_ReverseLimitAutosetPosEnable
Definition: SpnValue.hpp:175
static constexpr int Config_VoltageOpenLoopRampPeriod
Definition: SpnValue.hpp:163
static constexpr int Pigeon2DisableNoMotionCalibration
Definition: SpnValue.hpp:46
static constexpr int Config_MotionMagicCruiseVelocity
Definition: SpnValue.hpp:184
static constexpr int Config_DutyCycleOpenLoopRampPeriod
Definition: SpnValue.hpp:162
static constexpr int Slot1_kP
Definition: SpnValue.hpp:131
static constexpr int Pigeon2GyroScalarZ
Definition: SpnValue.hpp:52
static constexpr int Config_ForwardLimitEnable
Definition: SpnValue.hpp:171
static constexpr int CustomParam0
Definition: SpnValue.hpp:33
static constexpr int Slot0_kD
Definition: SpnValue.hpp:128
static constexpr int Config_TorqueOpenLoopRampPeriod
Definition: SpnValue.hpp:164
static constexpr int Pigeon2UseCompass
Definition: SpnValue.hpp:44
static constexpr int Config_PeakForTorqCurr
Definition: SpnValue.hpp:154
static constexpr int Pigeon2MountPoseRoll
Definition: SpnValue.hpp:49
static constexpr int Config_ForwardLimitType
Definition: SpnValue.hpp:168
static constexpr int Slot2_kS
Definition: SpnValue.hpp:140
static constexpr int Config_ReverseLimitAutosetPosValue
Definition: SpnValue.hpp:176
static constexpr int Config_ForwardSoftLimitThreshold
Definition: SpnValue.hpp:182
static constexpr int Config_SupplyVLowpassTau
Definition: SpnValue.hpp:142
static constexpr int Config_FeedbackRotorOffset
Definition: SpnValue.hpp:157
static constexpr int Config_SupplyCurrThres
Definition: SpnValue.hpp:196
Definition: string_util.hpp:14