CTRE Phoenix 6 C++ 24.50.0-alpha-2
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Configs that affect Torque Current control types. More...
#include <ctre/phoenix6/configs/Configs.hpp>
Public Member Functions | |
constexpr | TorqueCurrentConfigs ()=default |
constexpr TorqueCurrentConfigs & | WithPeakForwardTorqueCurrent (units::current::ampere_t newPeakForwardTorqueCurrent) |
Modifies this configuration's PeakForwardTorqueCurrent parameter and returns itself for method-chaining and easier to use config API. More... | |
constexpr TorqueCurrentConfigs & | WithPeakReverseTorqueCurrent (units::current::ampere_t newPeakReverseTorqueCurrent) |
Modifies this configuration's PeakReverseTorqueCurrent parameter and returns itself for method-chaining and easier to use config API. More... | |
constexpr TorqueCurrentConfigs & | WithTorqueNeutralDeadband (units::current::ampere_t newTorqueNeutralDeadband) |
Modifies this configuration's TorqueNeutralDeadband parameter and returns itself for method-chaining and easier to use config API. More... | |
std::string | ToString () const override |
std::string | Serialize () const override |
ctre::phoenix::StatusCode | Deserialize (const std::string &to_deserialize) override |
virtual std::string | ToString () const =0 |
virtual ctre::phoenix::StatusCode | Deserialize (const std::string &string)=0 |
virtual std::string | Serialize () const =0 |
Public Attributes | |
units::current::ampere_t | PeakForwardTorqueCurrent = 800_A |
Maximum (forward) output during torque current based control modes. More... | |
units::current::ampere_t | PeakReverseTorqueCurrent = -800_A |
Minimum (reverse) output during torque current based control modes. More... | |
units::current::ampere_t | TorqueNeutralDeadband = 0.0_A |
Configures the output deadband during torque current based control modes. More... | |
Configs that affect Torque Current control types.
Includes the maximum and minimum applied torque output and the neutral deadband used during TorqueCurrentFOC requests.
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constexprdefault |
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inlineoverridevirtual |
Implements ctre::phoenix6::configs::ParentConfiguration.
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inlineoverridevirtual |
Implements ctre::phoenix6::ISerializable.
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inlineoverridevirtual |
Implements ctre::phoenix6::configs::ParentConfiguration.
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inlineconstexpr |
Modifies this configuration's PeakForwardTorqueCurrent parameter and returns itself for method-chaining and easier to use config API.
Maximum (forward) output during torque current based control modes.
newPeakForwardTorqueCurrent | Parameter to modify |
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inlineconstexpr |
Modifies this configuration's PeakReverseTorqueCurrent parameter and returns itself for method-chaining and easier to use config API.
Minimum (reverse) output during torque current based control modes.
newPeakReverseTorqueCurrent | Parameter to modify |
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inlineconstexpr |
Modifies this configuration's TorqueNeutralDeadband parameter and returns itself for method-chaining and easier to use config API.
Configures the output deadband during torque current based control modes.
newTorqueNeutralDeadband | Parameter to modify |
units::current::ampere_t ctre::phoenix6::configs::TorqueCurrentConfigs::PeakForwardTorqueCurrent = 800_A |
Maximum (forward) output during torque current based control modes.
units::current::ampere_t ctre::phoenix6::configs::TorqueCurrentConfigs::PeakReverseTorqueCurrent = -800_A |
Minimum (reverse) output during torque current based control modes.
units::current::ampere_t ctre::phoenix6::configs::TorqueCurrentConfigs::TorqueNeutralDeadband = 0.0_A |
Configures the output deadband during torque current based control modes.