Package com.ctre.phoenixpro.controls

Class StaticBrake

java.lang.Object

com.ctre.phoenixpro.controls.ControlRequest

com.ctre.phoenixpro.controls.StaticBrake

public class StaticBrake
extends ControlRequest

Applies full neutral-brake by shorting motor leads together.

Field Summary

Fields

Modifier and Type	Field	Description
double	configTimeout	The timeout when sending configs associated with this control
double	UpdateFreqHz	The period at which this control will update at.

Fields inherited from class com.ctre.phoenixpro.controls.ControlRequest

requestReference

Constructor Summary

Constructors

Constructor	Description
StaticBrake()	Applies full neutral-brake by shorting motor leads together.

Method Summary

Modifier and Type	Method	Description
void	forceApplyConfigs()	Forces configs to be applied the next time this is used in a setControl.
StatusCode	sendRequest(String network, int deviceHash, boolean cancelOtherRequests)
String	toString()
StaticBrake	withUpdateFreqHz(double newUpdateFreqHz)	Sets the period at which this control will update at.

Methods inherited from class com.ctre.phoenixpro.controls.ControlRequest

getControlInfo

Methods inherited from class java.lang.Object

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

Field Details

UpdateFreqHz

public double UpdateFreqHz

The period at which this control will update at. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

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.

configTimeout

public double configTimeout

The timeout when sending configs associated with this control

Constructor Details

StaticBrake

public StaticBrake()

Applies full neutral-brake by shorting motor leads together.

Method Details

toString

public String toString()

Overrides:

toString in class Object

sendRequest

public StatusCode sendRequest(String network, int deviceHash, boolean cancelOtherRequests)

Specified by:

sendRequest in class ControlRequest

withUpdateFreqHz

public StaticBrake withUpdateFreqHz(double newUpdateFreqHz)

Sets the period at which this control will update at. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

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.

Parameters:

newUpdateFreqHz - Parameter to modify

Returns:

Itself

forceApplyConfigs

public void forceApplyConfigs()

Forces configs to be applied the next time this is used in a setControl.

This is not necessary in the majority of cases, because Phoenix will make sure configs are properly set when they are not already set