001/* 002 * Copyright (C) Cross The Road Electronics. All rights reserved. 003 * License information can be found in CTRE_LICENSE.txt 004 * For support and suggestions contact support@ctr-electronics.com or file 005 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases 006 */ 007package com.ctre.phoenixpro.configs; 008 009import com.ctre.phoenixpro.StatusCode; 010import com.ctre.phoenixpro.configs.jni.ConfigJNI; 011import com.ctre.phoenixpro.spns.*; 012 013/** 014 * Configs that affect general behavior during closed-looping. 015 * <p> 016 * Includes Continuous Wrap features. 017 */ 018public class ClosedLoopGeneralConfigs implements ParentConfiguration 019{ 020 /** 021 * Wrap position error within [-0.5,+0.5) mechanism rotations. 022 * Typically used for continuous position closed-loops like swerve 023 * azimuth. 024 * <p> 025 * This uses the mechanism rotation value. If there is a gear ratio 026 * between the sensor and the mechanism, make sure to apply a 027 * SensorToMechanismRatio so the closed loop operates on the full 028 * rotation. 029 * 030 * <ul> 031 * <li> <b>Default Value:</b> False 032 * </ul> 033 */ 034 public boolean ContinuousWrap = false; 035 036 @Override 037 public String toString() 038 { 039 String ss = "Config Group: ClosedLoopGeneral\n"; 040 ss += "Name: \"ContinuousWrap\" Value: \"" + ContinuousWrap + "\"" + "\n"; 041 return ss; 042 } 043 044 /** 045 * 046 */ 047 public StatusCode deserialize(String string) 048 { 049 ContinuousWrap = ConfigJNI.Deserializeboolean(SpnValue.Config_ContinuousWrap.value, string); 050 return StatusCode.OK; 051 } 052 053 /** 054 * 055 */ 056 public String serialize() 057 { 058 String ss = ""; 059 ss += ConfigJNI.Serializeboolean(1499, ContinuousWrap); 060 return ss; 061 } 062} 063