Package com.ctre.phoenixpro.configs

Class CurrentLimitsConfigs

java.lang.Object

com.ctre.phoenixpro.configs.CurrentLimitsConfigs

All Implemented Interfaces:

ParentConfiguration, ISerializable

public class CurrentLimitsConfigs
extends Object
implements ParentConfiguration

Configs that directly affect current limiting features.

Includes Motor Invert and various limit features.

Field Summary

Fields

Modifier and Type	Field	Description
double	StatorCurrentLimit	The amount of current allowed in the motor (motoring and regen current).
boolean	StatorCurrentLimitEnable	Enable motor stator current limiting.
double	SupplyCurrentLimit	The amount of supply current allowed.
boolean	SupplyCurrentLimitEnable	Enable motor supply current limiting.
double	SupplyCurrentThreshold	Delay supply current limiting until current exceeds this threshold for longer than SupplyTimeThreshold.
double	SupplyTimeThreshold	Allows unlimited current for a period of time before current limiting occurs.

Constructor Summary

Constructors

Constructor	Description
CurrentLimitsConfigs()

Method Summary

Modifier and Type	Method	Description
StatusCode	deserialize(String string)
String	serialize()
String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

StatorCurrentLimit

public double StatorCurrentLimit

The amount of current allowed in the motor (motoring and regen current). This is only applicable for non-torque current control modes. Note this requires the corresponding enable to be true.

• Minimum Value: 0.0
• Maximum Value: 800.0
• Default Value: 0
• Units: A

StatorCurrentLimitEnable

public boolean StatorCurrentLimitEnable

Enable motor stator current limiting.

• Default Value: False

SupplyCurrentLimit

public double SupplyCurrentLimit

The amount of supply current allowed. This is only applicable for non-torque current control modes. Note this requires the corresponding enable to be true. Use SupplyCurrentThreshold and SupplyTimeThreshold to allow brief periods of high-current before limiting occurs.

• Minimum Value: 0.0
• Maximum Value: 800.0
• Default Value: 0
• Units: A

SupplyCurrentLimitEnable

public boolean SupplyCurrentLimitEnable

Enable motor supply current limiting.

• Default Value: False

SupplyCurrentThreshold

public double SupplyCurrentThreshold

Delay supply current limiting until current exceeds this threshold for longer than SupplyTimeThreshold. This allows current draws above SupplyCurrentLimit for a fixed period of time. This has no effect if SupplyCurrentLimit is greater than this value.

• Minimum Value: 0.0
• Maximum Value: 511
• Default Value: 0
• Units: A

SupplyTimeThreshold

public double SupplyTimeThreshold

Allows unlimited current for a period of time before current limiting occurs. Current threshold is the maximum of SupplyCurrentThreshold and SupplyCurrentLimit.

• Minimum Value: 0.0
• Maximum Value: 1.275
• Default Value: 0
• Units: sec

Constructor Details

CurrentLimitsConfigs

public CurrentLimitsConfigs()

Method Details

toString

public String toString()

Overrides:

toString in class Object

deserialize

public StatusCode deserialize(String string)

Specified by:

deserialize in interface ParentConfiguration

serialize

public String serialize()

Specified by:

serialize in interface ISerializable