15#include <units/angle.h>
16#include <units/angular_acceleration.h>
17#include <units/angular_jerk.h>
18#include <units/angular_velocity.h>
19#include <units/current.h>
20#include <units/dimensionless.h>
21#include <units/frequency.h>
22#include <units/length.h>
23#include <units/voltage.h>
32namespace hardware {
namespace core {
class CoreTalonFX; } }
33namespace configs {
class SlotConfigs; }
148 std::stringstream ss;
149 ss <<
"Config Group: MagnetSensor" << std::endl;
151 ss <<
" MagnetOffset: " <<
MagnetOffset.to<
double>() <<
" rotations" << std::endl;
158 std::stringstream ss;
168 const char *string_c_str = to_deserialize.c_str();
169 size_t string_length = to_deserialize.length();
284 std::stringstream ss;
285 ss <<
"Config Group: MountPose" << std::endl;
286 ss <<
" MountPoseYaw: " <<
MountPoseYaw.to<
double>() <<
" deg" << std::endl;
287 ss <<
" MountPosePitch: " <<
MountPosePitch.to<
double>() <<
" deg" << std::endl;
288 ss <<
" MountPoseRoll: " <<
MountPoseRoll.to<
double>() <<
" deg" << std::endl;
294 std::stringstream ss;
304 const char *string_c_str = to_deserialize.c_str();
305 size_t string_length = to_deserialize.length();
426 std::stringstream ss;
427 ss <<
"Config Group: GyroTrim" << std::endl;
428 ss <<
" GyroScalarX: " <<
GyroScalarX.to<
double>() <<
" deg per rotation" << std::endl;
429 ss <<
" GyroScalarY: " <<
GyroScalarY.to<
double>() <<
" deg per rotation" << std::endl;
430 ss <<
" GyroScalarZ: " <<
GyroScalarZ.to<
double>() <<
" deg per rotation" << std::endl;
436 std::stringstream ss;
446 const char *string_c_str = to_deserialize.c_str();
447 size_t string_length = to_deserialize.length();
450 GyroScalarX = units::dimensionless::scalar_t{GyroScalarXVal};
453 GyroScalarY = units::dimensionless::scalar_t{GyroScalarYVal};
456 GyroScalarZ = units::dimensionless::scalar_t{GyroScalarZVal};
552 std::stringstream ss;
553 ss <<
"Config Group: Pigeon2Features" << std::endl;
562 std::stringstream ss;
572 const char *string_c_str = to_deserialize.c_str();
573 size_t string_length = to_deserialize.length();
776 std::stringstream ss;
777 ss <<
"Config Group: MotorOutput" << std::endl;
778 ss <<
" Inverted: " <<
Inverted << std::endl;
779 ss <<
" NeutralMode: " <<
NeutralMode << std::endl;
781 ss <<
" PeakForwardDutyCycle: " <<
PeakForwardDutyCycle.to<
double>() <<
" fractional" << std::endl;
782 ss <<
" PeakReverseDutyCycle: " <<
PeakReverseDutyCycle.to<
double>() <<
" fractional" << std::endl;
789 std::stringstream ss;
802 const char *string_c_str = to_deserialize.c_str();
803 size_t string_length = to_deserialize.length();
1080 std::stringstream ss;
1081 ss <<
"Config Group: CurrentLimits" << std::endl;
1082 ss <<
" StatorCurrentLimit: " <<
StatorCurrentLimit.to<
double>() <<
" A" << std::endl;
1084 ss <<
" SupplyCurrentLimit: " <<
SupplyCurrentLimit.to<
double>() <<
" A" << std::endl;
1093 std::stringstream ss;
1106 const char *string_c_str = to_deserialize.c_str();
1107 size_t string_length = to_deserialize.length();
1240 std::stringstream ss;
1241 ss <<
"Config Group: Voltage" << std::endl;
1243 ss <<
" PeakForwardVoltage: " <<
PeakForwardVoltage.to<
double>() <<
" V" << std::endl;
1244 ss <<
" PeakReverseVoltage: " <<
PeakReverseVoltage.to<
double>() <<
" V" << std::endl;
1250 std::stringstream ss;
1260 const char *string_c_str = to_deserialize.c_str();
1261 size_t string_length = to_deserialize.length();
1384 std::stringstream ss;
1385 ss <<
"Config Group: TorqueCurrent" << std::endl;
1394 std::stringstream ss;
1404 const char *string_c_str = to_deserialize.c_str();
1405 size_t string_length = to_deserialize.length();
1756 std::stringstream ss;
1757 ss <<
"Config Group: Feedback" << std::endl;
1758 ss <<
" FeedbackRotorOffset: " <<
FeedbackRotorOffset.to<
double>() <<
" rotations" << std::endl;
1760 ss <<
" RotorToSensorRatio: " <<
RotorToSensorRatio.to<
double>() <<
" scalar" << std::endl;
1769 std::stringstream ss;
1782 const char *string_c_str = to_deserialize.c_str();
1783 size_t string_length = to_deserialize.length();
1952 std::stringstream ss;
1953 ss <<
"Config Group: DifferentialSensors" << std::endl;
1962 std::stringstream ss;
1972 const char *string_c_str = to_deserialize.c_str();
1973 size_t string_length = to_deserialize.length();
2091 std::stringstream ss;
2092 ss <<
"Config Group: DifferentialConstants" << std::endl;
2101 std::stringstream ss;
2111 const char *string_c_str = to_deserialize.c_str();
2112 size_t string_length = to_deserialize.length();
2258 std::stringstream ss;
2259 ss <<
"Config Group: OpenLoopRamps" << std::endl;
2268 std::stringstream ss;
2278 const char *string_c_str = to_deserialize.c_str();
2279 size_t string_length = to_deserialize.length();
2281 c_ctre_phoenix6_deserialize_double(ctre::phoenix6::spns::SpnValue::Config_DutyCycleOpenLoopRampPeriod, string_c_str, string_length, &DutyCycleOpenLoopRampPeriodVal);
2451 std::stringstream ss;
2452 ss <<
"Config Group: ClosedLoopRamps" << std::endl;
2461 std::stringstream ss;
2471 const char *string_c_str = to_deserialize.c_str();
2472 size_t string_length = to_deserialize.length();
2474 c_ctre_phoenix6_deserialize_double(ctre::phoenix6::spns::SpnValue::Config_DutyCycleClosedLoopRampPeriod, string_c_str, string_length, &DutyCycleClosedLoopRampPeriodVal);
2477 c_ctre_phoenix6_deserialize_double(ctre::phoenix6::spns::SpnValue::Config_VoltageClosedLoopRampPeriod, string_c_str, string_length, &VoltageClosedLoopRampPeriodVal);
2937 std::stringstream ss;
2938 ss <<
"Config Group: HardwareLimitSwitch" << std::endl;
2956 std::stringstream ss;
2975 const char *string_c_str = to_deserialize.c_str();
2976 size_t string_length = to_deserialize.length();
2980 c_ctre_phoenix6_deserialize_double(ctre::phoenix6::spns::SpnValue::Config_ForwardLimitAutosetPosValue, string_c_str, string_length, &ForwardLimitAutosetPositionValueVal);
2988 c_ctre_phoenix6_deserialize_double(ctre::phoenix6::spns::SpnValue::Config_ReverseLimitAutosetPosValue, string_c_str, string_length, &ReverseLimitAutosetPositionValueVal);
3101 std::stringstream ss;
3102 ss <<
"Config Group: Audio" << std::endl;
3103 ss <<
" BeepOnBoot: " <<
BeepOnBoot << std::endl;
3111 std::stringstream ss;
3121 const char *string_c_str = to_deserialize.c_str();
3122 size_t string_length = to_deserialize.length();
3259 std::stringstream ss;
3260 ss <<
"Config Group: SoftwareLimitSwitch" << std::endl;
3270 std::stringstream ss;
3281 const char *string_c_str = to_deserialize.c_str();
3282 size_t string_length = to_deserialize.length();
3503 std::stringstream ss;
3504 ss <<
"Config Group: MotionMagic" << std::endl;
3507 ss <<
" MotionMagicJerk: " <<
MotionMagicJerk.to<
double>() <<
" rot per sec³" << std::endl;
3508 ss <<
" MotionMagicExpo_kV: " <<
MotionMagicExpo_kV.to<
double>() <<
" V/rps" << std::endl;
3509 ss <<
" MotionMagicExpo_kA: " <<
MotionMagicExpo_kA.to<
double>() <<
" V/rps²" << std::endl;
3515 std::stringstream ss;
3527 const char *string_c_str = to_deserialize.c_str();
3528 size_t string_length = to_deserialize.length();
3534 MotionMagicAcceleration = units::angular_acceleration::turns_per_second_squared_t{MotionMagicAccelerationVal};
3537 MotionMagicJerk = units::angular_jerk::turns_per_second_cubed_t{MotionMagicJerkVal};
3543 MotionMagicExpo_kA = ctre::unit::volts_per_turn_per_second_squared_t{MotionMagicExpo_kAVal};
3626 std::stringstream ss;
3627 ss <<
"Config Group: CustomParams" << std::endl;
3635 std::stringstream ss;
3644 const char *string_c_str = to_deserialize.c_str();
3645 size_t string_length = to_deserialize.length();
3682 std::stringstream ss;
3683 ss <<
"Config Group: ClosedLoopGeneral" << std::endl;
3690 std::stringstream ss;
3698 const char *string_c_str = to_deserialize.c_str();
3699 size_t string_length = to_deserialize.length();
3732 units::dimensionless::scalar_t
kP = 0;
3750 units::dimensionless::scalar_t
kI = 0;
3769 units::dimensionless::scalar_t
kD = 0;
3791 units::dimensionless::scalar_t
kS = 0;
3807 units::dimensionless::scalar_t
kV = 0;
3824 units::dimensionless::scalar_t
kA = 0;
3838 units::dimensionless::scalar_t
kG = 0;
3900 kP = std::move(newKP);
3929 kI = std::move(newKI);
3959 kD = std::move(newKD);
3992 kS = std::move(newKS);
4019 kV = std::move(newKV);
4047 kA = std::move(newKA);
4072 kG = std::move(newKG);
4139 std::stringstream ss;
4140 ss <<
"Config Group: Slot0" << std::endl;
4141 ss <<
" kP: " <<
kP.to<
double>() << std::endl;
4142 ss <<
" kI: " <<
kI.to<
double>() << std::endl;
4143 ss <<
" kD: " <<
kD.to<
double>() << std::endl;
4144 ss <<
" kS: " <<
kS.to<
double>() << std::endl;
4145 ss <<
" kV: " <<
kV.to<
double>() << std::endl;
4146 ss <<
" kA: " <<
kA.to<
double>() << std::endl;
4147 ss <<
" kG: " <<
kG.to<
double>() << std::endl;
4148 ss <<
" GravityType: " <<
GravityType << std::endl;
4155 std::stringstream ss;
4171 const char *string_c_str = to_deserialize.c_str();
4172 size_t string_length = to_deserialize.length();
4173 double kPVal =
kP.to<
double>();
4175 kP = units::dimensionless::scalar_t{kPVal};
4176 double kIVal =
kI.to<
double>();
4178 kI = units::dimensionless::scalar_t{kIVal};
4179 double kDVal =
kD.to<
double>();
4181 kD = units::dimensionless::scalar_t{kDVal};
4182 double kSVal =
kS.to<
double>();
4184 kS = units::dimensionless::scalar_t{kSVal};
4185 double kVVal =
kV.to<
double>();
4187 kV = units::dimensionless::scalar_t{kVVal};
4188 double kAVal =
kA.to<
double>();
4190 kA = units::dimensionless::scalar_t{kAVal};
4191 double kGVal =
kG.to<
double>();
4193 kG = units::dimensionless::scalar_t{kGVal};
4227 units::dimensionless::scalar_t
kP = 0;
4245 units::dimensionless::scalar_t
kI = 0;
4264 units::dimensionless::scalar_t
kD = 0;
4286 units::dimensionless::scalar_t
kS = 0;
4302 units::dimensionless::scalar_t
kV = 0;
4319 units::dimensionless::scalar_t
kA = 0;
4333 units::dimensionless::scalar_t
kG = 0;
4395 kP = std::move(newKP);
4424 kI = std::move(newKI);
4454 kD = std::move(newKD);
4487 kS = std::move(newKS);
4514 kV = std::move(newKV);
4542 kA = std::move(newKA);
4567 kG = std::move(newKG);
4634 std::stringstream ss;
4635 ss <<
"Config Group: Slot1" << std::endl;
4636 ss <<
" kP: " <<
kP.to<
double>() << std::endl;
4637 ss <<
" kI: " <<
kI.to<
double>() << std::endl;
4638 ss <<
" kD: " <<
kD.to<
double>() << std::endl;
4639 ss <<
" kS: " <<
kS.to<
double>() << std::endl;
4640 ss <<
" kV: " <<
kV.to<
double>() << std::endl;
4641 ss <<
" kA: " <<
kA.to<
double>() << std::endl;
4642 ss <<
" kG: " <<
kG.to<
double>() << std::endl;
4643 ss <<
" GravityType: " <<
GravityType << std::endl;
4650 std::stringstream ss;
4666 const char *string_c_str = to_deserialize.c_str();
4667 size_t string_length = to_deserialize.length();
4668 double kPVal =
kP.to<
double>();
4670 kP = units::dimensionless::scalar_t{kPVal};
4671 double kIVal =
kI.to<
double>();
4673 kI = units::dimensionless::scalar_t{kIVal};
4674 double kDVal =
kD.to<
double>();
4676 kD = units::dimensionless::scalar_t{kDVal};
4677 double kSVal =
kS.to<
double>();
4679 kS = units::dimensionless::scalar_t{kSVal};
4680 double kVVal =
kV.to<
double>();
4682 kV = units::dimensionless::scalar_t{kVVal};
4683 double kAVal =
kA.to<
double>();
4685 kA = units::dimensionless::scalar_t{kAVal};
4686 double kGVal =
kG.to<
double>();
4688 kG = units::dimensionless::scalar_t{kGVal};
4722 units::dimensionless::scalar_t
kP = 0;
4740 units::dimensionless::scalar_t
kI = 0;
4759 units::dimensionless::scalar_t
kD = 0;
4781 units::dimensionless::scalar_t
kS = 0;
4797 units::dimensionless::scalar_t
kV = 0;
4814 units::dimensionless::scalar_t
kA = 0;
4828 units::dimensionless::scalar_t
kG = 0;
4890 kP = std::move(newKP);
4919 kI = std::move(newKI);
4949 kD = std::move(newKD);
4982 kS = std::move(newKS);
5009 kV = std::move(newKV);
5037 kA = std::move(newKA);
5062 kG = std::move(newKG);
5129 std::stringstream ss;
5130 ss <<
"Config Group: Slot2" << std::endl;
5131 ss <<
" kP: " <<
kP.to<
double>() << std::endl;
5132 ss <<
" kI: " <<
kI.to<
double>() << std::endl;
5133 ss <<
" kD: " <<
kD.to<
double>() << std::endl;
5134 ss <<
" kS: " <<
kS.to<
double>() << std::endl;
5135 ss <<
" kV: " <<
kV.to<
double>() << std::endl;
5136 ss <<
" kA: " <<
kA.to<
double>() << std::endl;
5137 ss <<
" kG: " <<
kG.to<
double>() << std::endl;
5138 ss <<
" GravityType: " <<
GravityType << std::endl;
5145 std::stringstream ss;
5161 const char *string_c_str = to_deserialize.c_str();
5162 size_t string_length = to_deserialize.length();
5163 double kPVal =
kP.to<
double>();
5165 kP = units::dimensionless::scalar_t{kPVal};
5166 double kIVal =
kI.to<
double>();
5168 kI = units::dimensionless::scalar_t{kIVal};
5169 double kDVal =
kD.to<
double>();
5171 kD = units::dimensionless::scalar_t{kDVal};
5172 double kSVal =
kS.to<
double>();
5174 kS = units::dimensionless::scalar_t{kSVal};
5175 double kVVal =
kV.to<
double>();
5177 kV = units::dimensionless::scalar_t{kVVal};
5178 double kAVal =
kA.to<
double>();
5180 kA = units::dimensionless::scalar_t{kAVal};
5181 double kGVal =
kG.to<
double>();
5183 kG = units::dimensionless::scalar_t{kGVal};
5208 int StaticFeedforwardSignSpn;
5211 static inline std::map<int, SlotSpns>
const genericMap{
5213 ctre::phoenix6::spns::SpnValue::Slot0_kP,
5214 ctre::phoenix6::spns::SpnValue::Slot0_kI,
5215 ctre::phoenix6::spns::SpnValue::Slot0_kD,
5216 ctre::phoenix6::spns::SpnValue::Slot0_kS,
5217 ctre::phoenix6::spns::SpnValue::Slot0_kV,
5218 ctre::phoenix6::spns::SpnValue::Slot0_kA,
5219 ctre::phoenix6::spns::SpnValue::Slot0_kG,
5220 ctre::phoenix6::spns::SpnValue::Slot0_kG_Type,
5221 ctre::phoenix6::spns::SpnValue::Slot0_kS_Sign,
5225 ctre::phoenix6::spns::SpnValue::Slot1_kP,
5226 ctre::phoenix6::spns::SpnValue::Slot1_kI,
5227 ctre::phoenix6::spns::SpnValue::Slot1_kD,
5228 ctre::phoenix6::spns::SpnValue::Slot1_kS,
5229 ctre::phoenix6::spns::SpnValue::Slot1_kV,
5230 ctre::phoenix6::spns::SpnValue::Slot1_kA,
5231 ctre::phoenix6::spns::SpnValue::Slot1_kG,
5232 ctre::phoenix6::spns::SpnValue::Slot1_kG_Type,
5233 ctre::phoenix6::spns::SpnValue::Slot1_kS_Sign,
5237 ctre::phoenix6::spns::SpnValue::Slot2_kP,
5238 ctre::phoenix6::spns::SpnValue::Slot2_kI,
5239 ctre::phoenix6::spns::SpnValue::Slot2_kD,
5240 ctre::phoenix6::spns::SpnValue::Slot2_kS,
5241 ctre::phoenix6::spns::SpnValue::Slot2_kV,
5242 ctre::phoenix6::spns::SpnValue::Slot2_kA,
5243 ctre::phoenix6::spns::SpnValue::Slot2_kG,
5244 ctre::phoenix6::spns::SpnValue::Slot2_kG_Type,
5245 ctre::phoenix6::spns::SpnValue::Slot2_kS_Sign,
5268 units::dimensionless::scalar_t
kP = 0;
5286 units::dimensionless::scalar_t
kI = 0;
5305 units::dimensionless::scalar_t
kD = 0;
5327 units::dimensionless::scalar_t
kS = 0;
5343 units::dimensionless::scalar_t
kV = 0;
5360 units::dimensionless::scalar_t
kA = 0;
5374 units::dimensionless::scalar_t
kG = 0;
5436 kP = std::move(newKP);
5465 kI = std::move(newKI);
5495 kD = std::move(newKD);
5528 kS = std::move(newKS);
5555 kV = std::move(newKV);
5583 kA = std::move(newKA);
5608 kG = std::move(newKG);
5683 std::stringstream ss;
5684 ss <<
"Config Group: Slot" << std::endl;
5685 ss <<
" kP: " <<
kP.to<
double>() << std::endl;
5686 ss <<
" kI: " <<
kI.to<
double>() << std::endl;
5687 ss <<
" kD: " <<
kD.to<
double>() << std::endl;
5688 ss <<
" kS: " <<
kS.to<
double>() << std::endl;
5689 ss <<
" kV: " <<
kV.to<
double>() << std::endl;
5690 ss <<
" kA: " <<
kA.to<
double>() << std::endl;
5691 ss <<
" kG: " <<
kG.to<
double>() << std::endl;
5692 ss <<
" GravityType: " <<
GravityType << std::endl;
5699 std::stringstream ss;
5700 SlotSpns currentSpns = genericMap.at(
SlotNumber);
5716 const char *string_c_str = to_deserialize.c_str();
5717 size_t string_length = to_deserialize.length();
5718 SlotSpns currentSpns = genericMap.at(
SlotNumber);
5719 double kPVal =
kP.to<
double>();
5721 kP = units::dimensionless::scalar_t{kPVal};
5722 double kIVal =
kI.to<
double>();
5724 kI = units::dimensionless::scalar_t{kIVal};
5725 double kDVal =
kD.to<
double>();
5727 kD = units::dimensionless::scalar_t{kDVal};
5728 double kSVal =
kS.to<
double>();
5730 kS = units::dimensionless::scalar_t{kSVal};
5731 double kVVal =
kV.to<
double>();
5733 kV = units::dimensionless::scalar_t{kVVal};
5734 double kAVal =
kA.to<
double>();
5736 kA = units::dimensionless::scalar_t{kAVal};
5737 double kGVal =
kG.to<
double>();
5739 kG = units::dimensionless::scalar_t{kGVal};
ii that the Software will be uninterrupted or error free
Definition: CTRE_LICENSE.txt:226
CTREXPORT int c_ctre_phoenix6_deserialize_double(int spn, const char *str, uint32_t strlen, double *val)
CTREXPORT int c_ctre_phoenix6_serialize_int(int spn, int value, char **str)
CTREXPORT int c_ctre_phoenix6_serialize_bool(int spn, bool value, char **str)
CTREXPORT int c_ctre_phoenix6_deserialize_bool(int spn, const char *str, uint32_t strlen, bool *val)
CTREXPORT int c_ctre_phoenix6_deserialize_int(int spn, const char *str, uint32_t strlen, int *val)
CTREXPORT int c_ctre_phoenix6_serialize_double(int spn, double value, char **str)
Definition: Serializable.hpp:15
Configs that affect audible components of the device.
Definition: Configs.hpp:3004
bool BeepOnConfig
If true, the TalonFX will beep during configuration API calls if device is disabled.
Definition: Configs.hpp:3025
bool AllowMusicDurDisable
If true, the TalonFX will allow Orchestra and MusicTone requests during disabled state.
Definition: Configs.hpp:3035
constexpr AudioConfigs()=default
std::string Serialize() const override
Definition: Configs.hpp:3109
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:3119
std::string ToString() const override
Definition: Configs.hpp:3099
constexpr AudioConfigs & WithBeepOnBoot(bool newBeepOnBoot)
Modifies this configuration's BeepOnBoot parameter and returns itself for method-chaining and easier ...
Definition: Configs.hpp:3050
constexpr AudioConfigs & WithAllowMusicDurDisable(bool newAllowMusicDurDisable)
Modifies this configuration's AllowMusicDurDisable parameter and returns itself for method-chaining a...
Definition: Configs.hpp:3091
constexpr AudioConfigs & WithBeepOnConfig(bool newBeepOnConfig)
Modifies this configuration's BeepOnConfig parameter and returns itself for method-chaining and easie...
Definition: Configs.hpp:3070
bool BeepOnBoot
If true, the TalonFX will beep during boot-up.
Definition: Configs.hpp:3016
Configs that affect general behavior during closed-looping.
Definition: Configs.hpp:3659
bool ContinuousWrap
Wrap position error within [-0.5,+0.5) mechanism rotations.
Definition: Configs.hpp:3675
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:3696
std::string ToString() const override
Definition: Configs.hpp:3680
std::string Serialize() const override
Definition: Configs.hpp:3688
constexpr ClosedLoopGeneralConfigs()=default
Configs that affect the closed-loop control of this motor controller.
Definition: Configs.hpp:2301
constexpr ClosedLoopRampsConfigs & WithDutyCycleClosedLoopRampPeriod(units::time::second_t newDutyCycleClosedLoopRampPeriod)
Modifies this configuration's DutyCycleClosedLoopRampPeriod parameter and returns itself for method-c...
Definition: Configs.hpp:2382
std::string Serialize() const override
Definition: Configs.hpp:2459
units::time::second_t DutyCycleClosedLoopRampPeriod
If non-zero, this determines how much time to ramp from 0% output to 100% during the closed-loop Duty...
Definition: Configs.hpp:2321
constexpr ClosedLoopRampsConfigs & WithTorqueClosedLoopRampPeriod(units::time::second_t newTorqueClosedLoopRampPeriod)
Modifies this configuration's TorqueClosedLoopRampPeriod parameter and returns itself for method-chai...
Definition: Configs.hpp:2441
constexpr ClosedLoopRampsConfigs()=default
constexpr ClosedLoopRampsConfigs & WithVoltageClosedLoopRampPeriod(units::time::second_t newVoltageClosedLoopRampPeriod)
Modifies this configuration's VoltageClosedLoopRampPeriod parameter and returns itself for method-cha...
Definition: Configs.hpp:2410
units::time::second_t TorqueClosedLoopRampPeriod
If non-zero, this determines how much time to ramp from 0A output to 300A during the closed-loop Torq...
Definition: Configs.hpp:2358
units::time::second_t VoltageClosedLoopRampPeriod
If non-zero, this determines how much time to ramp from 0V output to 12V during the closed-loop Volta...
Definition: Configs.hpp:2338
std::string ToString() const override
Definition: Configs.hpp:2449
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:2469
Configs that directly affect current limiting features.
Definition: Configs.hpp:830
bool StatorCurrentLimitEnable
Enable motor stator current limiting.
Definition: Configs.hpp:866
std::string Serialize() const override
Definition: Configs.hpp:1091
constexpr CurrentLimitsConfigs & WithSupplyCurrentLimitEnable(bool newSupplyCurrentLimitEnable)
Modifies this configuration's SupplyCurrentLimitEnable parameter and returns itself for method-chaini...
Definition: Configs.hpp:1023
constexpr CurrentLimitsConfigs & WithSupplyCurrentLimit(units::current::ampere_t newSupplyCurrentLimit)
Modifies this configuration's SupplyCurrentLimit parameter and returns itself for method-chaining and...
Definition: Configs.hpp:1006
units::current::ampere_t SupplyCurrentLimit
The absolute maximum amount of supply current allowed.
Definition: Configs.hpp:890
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:1104
units::current::ampere_t StatorCurrentLimit
The amount of current allowed in the motor (motoring and regen current).
Definition: Configs.hpp:860
constexpr CurrentLimitsConfigs & WithSupplyCurrentLowerTime(units::time::second_t newSupplyCurrentLowerTime)
Modifies this configuration's SupplyCurrentLowerTime parameter and returns itself for method-chaining...
Definition: Configs.hpp:1070
constexpr CurrentLimitsConfigs & WithSupplyCurrentLowerLimit(units::current::ampere_t newSupplyCurrentLowerLimit)
Modifies this configuration's SupplyCurrentLowerLimit parameter and returns itself for method-chainin...
Definition: Configs.hpp:1048
constexpr CurrentLimitsConfigs()=default
constexpr CurrentLimitsConfigs & WithStatorCurrentLimit(units::current::ampere_t newStatorCurrentLimit)
Modifies this configuration's StatorCurrentLimit parameter and returns itself for method-chaining and...
Definition: Configs.hpp:954
units::current::ampere_t SupplyCurrentLowerLimit
The amount of supply current allowed after the regular SupplyCurrentLimit is active for longer than S...
Definition: Configs.hpp:910
std::string ToString() const override
Definition: Configs.hpp:1078
bool SupplyCurrentLimitEnable
Enable motor supply current limiting.
Definition: Configs.hpp:896
constexpr CurrentLimitsConfigs & WithStatorCurrentLimitEnable(bool newStatorCurrentLimitEnable)
Modifies this configuration's StatorCurrentLimitEnable parameter and returns itself for method-chaini...
Definition: Configs.hpp:971
units::time::second_t SupplyCurrentLowerTime
Reduces supply current to the SupplyCurrentLowerLimit after limiting to SupplyCurrentLimit for this p...
Definition: Configs.hpp:921
Custom Params.
Definition: Configs.hpp:3555
std::string ToString() const override
Definition: Configs.hpp:3624
int CustomParam0
Custom parameter 0.
Definition: Configs.hpp:3568
std::string Serialize() const override
Definition: Configs.hpp:3633
int CustomParam1
Custom parameter 1.
Definition: Configs.hpp:3578
constexpr CustomParamsConfigs & WithCustomParam0(int newCustomParam0)
Modifies this configuration's CustomParam0 parameter and returns itself for method-chaining and easie...
Definition: Configs.hpp:3595
constexpr CustomParamsConfigs()=default
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:3642
constexpr CustomParamsConfigs & WithCustomParam1(int newCustomParam1)
Modifies this configuration's CustomParam1 parameter and returns itself for method-chaining and easie...
Definition: Configs.hpp:3616
Configs related to constants used for differential control of a mechanism.
Definition: Configs.hpp:1989
units::current::ampere_t PeakDifferentialTorqueCurrent
Maximum differential output during torque current based differential control modes.
Definition: Configs.hpp:2022
std::string Serialize() const override
Definition: Configs.hpp:2099
std::string ToString() const override
Definition: Configs.hpp:2089
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:2109
constexpr DifferentialConstantsConfigs & WithPeakDifferentialVoltage(units::voltage::volt_t newPeakDifferentialVoltage)
Modifies this configuration's PeakDifferentialVoltage parameter and returns itself for method-chainin...
Definition: Configs.hpp:2060
constexpr DifferentialConstantsConfigs()=default
units::dimensionless::scalar_t PeakDifferentialDutyCycle
Maximum differential output during duty cycle based differential control modes.
Definition: Configs.hpp:2002
constexpr DifferentialConstantsConfigs & WithPeakDifferentialTorqueCurrent(units::current::ampere_t newPeakDifferentialTorqueCurrent)
Modifies this configuration's PeakDifferentialTorqueCurrent parameter and returns itself for method-c...
Definition: Configs.hpp:2081
constexpr DifferentialConstantsConfigs & WithPeakDifferentialDutyCycle(units::dimensionless::scalar_t newPeakDifferentialDutyCycle)
Modifies this configuration's PeakDifferentialDutyCycle parameter and returns itself for method-chain...
Definition: Configs.hpp:2039
units::voltage::volt_t PeakDifferentialVoltage
Maximum differential output during voltage based differential control modes.
Definition: Configs.hpp:2012
Configs related to sensors used for differential control of a mechanism.
Definition: Configs.hpp:1810
constexpr DifferentialSensorsConfigs()=default
constexpr DifferentialSensorsConfigs & WithDifferentialTalonFXSensorID(int newDifferentialTalonFXSensorID)
Modifies this configuration's DifferentialTalonFXSensorID parameter and returns itself for method-cha...
Definition: Configs.hpp:1920
constexpr DifferentialSensorsConfigs & WithDifferentialSensorSource(signals::DifferentialSensorSourceValue newDifferentialSensorSource)
Modifies this configuration's DifferentialSensorSource parameter and returns itself for method-chaini...
Definition: Configs.hpp:1899
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:1970
std::string Serialize() const override
Definition: Configs.hpp:1960
std::string ToString() const override
Definition: Configs.hpp:1950
signals::DifferentialSensorSourceValue DifferentialSensorSource
Choose what sensor source is used for differential control of a mechanism.
Definition: Configs.hpp:1842
int DifferentialRemoteSensorID
Device ID of which remote sensor to use on the differential axis.
Definition: Configs.hpp:1863
constexpr DifferentialSensorsConfigs & WithDifferentialRemoteSensorID(int newDifferentialRemoteSensorID)
Modifies this configuration's DifferentialRemoteSensorID parameter and returns itself for method-chai...
Definition: Configs.hpp:1942
int DifferentialTalonFXSensorID
Device ID of which remote Talon FX to use.
Definition: Configs.hpp:1852
Configs that affect the feedback of this motor controller.
Definition: Configs.hpp:1429
std::string ToString() const override
Definition: Configs.hpp:1754
signals::FeedbackSensorSourceValue FeedbackSensorSource
Choose what sensor source is reported via API and used by closed-loop and limit features.
Definition: Configs.hpp:1511
constexpr FeedbackConfigs & WithRotorToSensorRatio(units::dimensionless::scalar_t newRotorToSensorRatio)
Modifies this configuration's RotorToSensorRatio parameter and returns itself for method-chaining and...
Definition: Configs.hpp:1602
FeedbackConfigs & WithRemoteCANcoder(const hardware::core::CoreCANcoder &device)
Helper method to configure this feedback group to use RemoteCANcoder by passing in the CANcoder objec...
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:1780
constexpr FeedbackConfigs & WithSensorToMechanismRatio(units::dimensionless::scalar_t newSensorToMechanismRatio)
Modifies this configuration's SensorToMechanismRatio parameter and returns itself for method-chaining...
Definition: Configs.hpp:1578
units::dimensionless::scalar_t SensorToMechanismRatio
This is the ratio of sensor rotations to the mechanism's output.
Definition: Configs.hpp:1456
FeedbackConfigs & WithSyncCANcoder(const hardware::core::CoreCANcoder &device)
Helper method to configure this feedback group to use SyncCANcoder by passing in the CANcoder object.
std::string Serialize() const override
Definition: Configs.hpp:1767
constexpr FeedbackConfigs & WithVelocityFilterTimeConstant(units::time::second_t newVelocityFilterTimeConstant)
Modifies this configuration's VelocityFilterTimeConstant parameter and returns itself for method-chai...
Definition: Configs.hpp:1701
units::angle::turn_t FeedbackRotorOffset
This offset is applied to the absolute integrated rotor sensor.
Definition: Configs.hpp:1443
units::time::second_t VelocityFilterTimeConstant
The configurable time constant of the Kalman velocity filter.
Definition: Configs.hpp:1536
units::dimensionless::scalar_t RotorToSensorRatio
Talon FX is capable of fusing a remote CANcoder with its rotor sensor to produce a high-bandwidth sen...
Definition: Configs.hpp:1469
int FeedbackRemoteSensorID
Device ID of which remote device to use.
Definition: Configs.hpp:1521
constexpr FeedbackConfigs & WithFeedbackSensorSource(signals::FeedbackSensorSourceValue newFeedbackSensorSource)
Modifies this configuration's FeedbackSensorSource parameter and returns itself for method-chaining a...
Definition: Configs.hpp:1655
FeedbackConfigs & WithFusedCANcoder(const hardware::core::CoreCANcoder &device)
Helper method to configure this feedback group to use FusedCANcoder by passing in the CANcoder object...
constexpr FeedbackConfigs & WithFeedbackRemoteSensorID(int newFeedbackRemoteSensorID)
Modifies this configuration's FeedbackRemoteSensorID parameter and returns itself for method-chaining...
Definition: Configs.hpp:1676
constexpr FeedbackConfigs & WithFeedbackRotorOffset(units::angle::turn_t newFeedbackRotorOffset)
Modifies this configuration's FeedbackRotorOffset parameter and returns itself for method-chaining an...
Definition: Configs.hpp:1554
constexpr FeedbackConfigs()=default
Configs to trim the Pigeon2's gyroscope.
Definition: Configs.hpp:330
constexpr GyroTrimConfigs & WithGyroScalarX(units::dimensionless::scalar_t newGyroScalarX)
Modifies this configuration's GyroScalarX parameter and returns itself for method-chaining and easier...
Definition: Configs.hpp:376
constexpr GyroTrimConfigs & WithGyroScalarY(units::dimensionless::scalar_t newGyroScalarY)
Modifies this configuration's GyroScalarY parameter and returns itself for method-chaining and easier...
Definition: Configs.hpp:396
std::string Serialize() const override
Definition: Configs.hpp:434
std::string ToString() const override
Definition: Configs.hpp:424
units::dimensionless::scalar_t GyroScalarY
The gyro scalar component for the Y axis.
Definition: Configs.hpp:351
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:444
units::dimensionless::scalar_t GyroScalarX
The gyro scalar component for the X axis.
Definition: Configs.hpp:342
constexpr GyroTrimConfigs & WithGyroScalarZ(units::dimensionless::scalar_t newGyroScalarZ)
Modifies this configuration's GyroScalarZ parameter and returns itself for method-chaining and easier...
Definition: Configs.hpp:416
units::dimensionless::scalar_t GyroScalarZ
The gyro scalar component for the Z axis.
Definition: Configs.hpp:360
constexpr GyroTrimConfigs()=default
Configs that change how the motor controller behaves under different limit switch states.
Definition: Configs.hpp:2496
HardwareLimitSwitchConfigs & WithReverseLimitRemoteTalonFX(const hardware::core::CoreTalonFX &device)
Helper method to configure this feedback group to use RemoteTalonFX reverse limit switch by passing i...
std::string ToString() const override
Definition: Configs.hpp:2935
signals::ForwardLimitTypeValue ForwardLimitType
Determines if the forward limit switch is normally-open (default) or normally-closed.
Definition: Configs.hpp:2505
constexpr HardwareLimitSwitchConfigs()=default
constexpr HardwareLimitSwitchConfigs & WithForwardLimitAutosetPositionValue(units::angle::turn_t newForwardLimitAutosetPositionValue)
Modifies this configuration's ForwardLimitAutosetPositionValue parameter and returns itself for metho...
Definition: Configs.hpp:2677
units::angle::turn_t ForwardLimitAutosetPositionValue
The value to automatically set the position to when the forward limit switch is asserted.
Definition: Configs.hpp:2524
signals::ForwardLimitSourceValue ForwardLimitSource
Determines where to poll the forward limit switch.
Definition: Configs.hpp:2551
constexpr HardwareLimitSwitchConfigs & WithForwardLimitEnable(bool newForwardLimitEnable)
Modifies this configuration's ForwardLimitEnable parameter and returns itself for method-chaining and...
Definition: Configs.hpp:2695
bool ForwardLimitEnable
If enabled, motor output is set to neutral when the forward limit switch is asserted and positive out...
Definition: Configs.hpp:2531
bool ReverseLimitAutosetPositionEnable
If enabled, the position is automatically set to a specific value, specified by ReverseLimitAutosetPo...
Definition: Configs.hpp:2575
bool ForwardLimitAutosetPositionEnable
If enabled, the position is automatically set to a specific value, specified by ForwardLimitAutosetPo...
Definition: Configs.hpp:2513
constexpr HardwareLimitSwitchConfigs & WithReverseLimitAutosetPositionValue(units::angle::turn_t newReverseLimitAutosetPositionValue)
Modifies this configuration's ReverseLimitAutosetPositionValue parameter and returns itself for metho...
Definition: Configs.hpp:2804
constexpr HardwareLimitSwitchConfigs & WithReverseLimitSource(signals::ReverseLimitSourceValue newReverseLimitSource)
Modifies this configuration's ReverseLimitSource parameter and returns itself for method-chaining and...
Definition: Configs.hpp:2852
signals::ReverseLimitTypeValue ReverseLimitType
Determines if the reverse limit switch is normally-open (default) or normally-closed.
Definition: Configs.hpp:2567
units::angle::turn_t ReverseLimitAutosetPositionValue
The value to automatically set the position to when the reverse limit switch is asserted.
Definition: Configs.hpp:2586
constexpr HardwareLimitSwitchConfigs & WithForwardLimitAutosetPositionEnable(bool newForwardLimitAutosetPositionEnable)
Modifies this configuration's ForwardLimitAutosetPositionEnable parameter and returns itself for meth...
Definition: Configs.hpp:2655
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:2973
constexpr HardwareLimitSwitchConfigs & WithForwardLimitRemoteSensorID(int newForwardLimitRemoteSensorID)
Modifies this configuration's ForwardLimitRemoteSensorID parameter and returns itself for method-chai...
Definition: Configs.hpp:2746
constexpr HardwareLimitSwitchConfigs & WithReverseLimitAutosetPositionEnable(bool newReverseLimitAutosetPositionEnable)
Modifies this configuration's ReverseLimitAutosetPositionEnable parameter and returns itself for meth...
Definition: Configs.hpp:2782
HardwareLimitSwitchConfigs & WithReverseLimitRemoteCANcoder(const hardware::core::CoreCANcoder &device)
Helper method to configure this feedback group to use RemoteCANcoder reverse limit switch by passing ...
constexpr HardwareLimitSwitchConfigs & WithReverseLimitType(signals::ReverseLimitTypeValue newReverseLimitType)
Modifies this configuration's ReverseLimitType parameter and returns itself for method-chaining and e...
Definition: Configs.hpp:2763
constexpr HardwareLimitSwitchConfigs & WithReverseLimitEnable(bool newReverseLimitEnable)
Modifies this configuration's ReverseLimitEnable parameter and returns itself for method-chaining and...
Definition: Configs.hpp:2822
int ForwardLimitRemoteSensorID
Device ID of the remote device if using remote limit switch features for the forward limit switch.
Definition: Configs.hpp:2561
constexpr HardwareLimitSwitchConfigs & WithForwardLimitType(signals::ForwardLimitTypeValue newForwardLimitType)
Modifies this configuration's ForwardLimitType parameter and returns itself for method-chaining and e...
Definition: Configs.hpp:2636
signals::ReverseLimitSourceValue ReverseLimitSource
Determines where to poll the reverse limit switch.
Definition: Configs.hpp:2613
HardwareLimitSwitchConfigs & WithForwardLimitRemoteTalonFX(const hardware::core::CoreTalonFX &device)
Helper method to configure this feedback group to use RemoteTalonFX forward limit switch by passing i...
std::string Serialize() const override
Definition: Configs.hpp:2954
constexpr HardwareLimitSwitchConfigs & WithReverseLimitRemoteSensorID(int newReverseLimitRemoteSensorID)
Modifies this configuration's ReverseLimitRemoteSensorID parameter and returns itself for method-chai...
Definition: Configs.hpp:2873
constexpr HardwareLimitSwitchConfigs & WithForwardLimitSource(signals::ForwardLimitSourceValue newForwardLimitSource)
Modifies this configuration's ForwardLimitSource parameter and returns itself for method-chaining and...
Definition: Configs.hpp:2725
HardwareLimitSwitchConfigs & WithForwardLimitRemoteCANcoder(const hardware::core::CoreCANcoder &device)
Helper method to configure this feedback group to use RemoteCANcoder forward limit switch by passing ...
bool ReverseLimitEnable
If enabled, motor output is set to neutral when reverse limit switch is asseted and negative output i...
Definition: Configs.hpp:2593
int ReverseLimitRemoteSensorID
Device ID of the remote device if using remote limit switch features for the reverse limit switch.
Definition: Configs.hpp:2623
Configs that affect the magnet sensor and how to interpret it.
Definition: Configs.hpp:58
std::string Serialize() const override
Definition: Configs.hpp:156
signals::AbsoluteSensorRangeValue AbsoluteSensorRange
The range of the absolute sensor in rotations, either [-0.5, 0.5) or [0, 1).
Definition: Configs.hpp:85
constexpr MagnetSensorConfigs()=default
constexpr MagnetSensorConfigs & WithMagnetOffset(units::angle::turn_t newMagnetOffset)
Modifies this configuration's MagnetOffset parameter and returns itself for method-chaining and easie...
Definition: Configs.hpp:121
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:166
constexpr MagnetSensorConfigs & WithSensorDirection(signals::SensorDirectionValue newSensorDirection)
Modifies this configuration's SensorDirection parameter and returns itself for method-chaining and ea...
Definition: Configs.hpp:98
units::angle::turn_t MagnetOffset
This offset is added to the reported position, allowing the application to trim the zero position.
Definition: Configs.hpp:79
constexpr MagnetSensorConfigs & WithAbsoluteSensorRange(signals::AbsoluteSensorRangeValue newAbsoluteSensorRange)
Modifies this configuration's AbsoluteSensorRange parameter and returns itself for method-chaining an...
Definition: Configs.hpp:138
std::string ToString() const override
Definition: Configs.hpp:146
signals::SensorDirectionValue SensorDirection
Direction of the sensor to determine positive rotation, as seen facing the LED side of the CANcoder.
Definition: Configs.hpp:67
Configs for Motion Magic®.
Definition: Configs.hpp:3303
ctre::unit::volts_per_turn_per_second_squared_t MotionMagicExpo_kA
This is the target kA used only by Motion Magic® Expo control modes.
Definition: Configs.hpp:3375
constexpr MotionMagicConfigs & WithMotionMagicAcceleration(units::angular_acceleration::turns_per_second_squared_t newMotionMagicAcceleration)
Modifies this configuration's MotionMagicAcceleration parameter and returns itself for method-chainin...
Definition: Configs.hpp:3417
ctre::unit::volts_per_turn_per_second_t MotionMagicExpo_kV
This is the target kV used only by Motion Magic® Expo control modes.
Definition: Configs.hpp:3359
constexpr MotionMagicConfigs()=default
std::string Serialize() const override
Definition: Configs.hpp:3513
constexpr MotionMagicConfigs & WithMotionMagicCruiseVelocity(units::angular_velocity::turns_per_second_t newMotionMagicCruiseVelocity)
Modifies this configuration's MotionMagicCruiseVelocity parameter and returns itself for method-chain...
Definition: Configs.hpp:3395
units::angular_acceleration::turns_per_second_squared_t MotionMagicAcceleration
This is the target acceleration Motion Magic® based control modes are allowed to use.
Definition: Configs.hpp:3330
constexpr MotionMagicConfigs & WithMotionMagicJerk(units::angular_jerk::turns_per_second_cubed_t newMotionMagicJerk)
Modifies this configuration's MotionMagicJerk parameter and returns itself for method-chaining and ea...
Definition: Configs.hpp:3441
units::angular_velocity::turns_per_second_t MotionMagicCruiseVelocity
This is the maximum velocity Motion Magic® based control modes are allowed to use.
Definition: Configs.hpp:3319
units::angular_jerk::turns_per_second_cubed_t MotionMagicJerk
This is the target jerk (acceleration derivative) Motion Magic® based control modes are allowed to us...
Definition: Configs.hpp:3343
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:3525
std::string ToString() const override
Definition: Configs.hpp:3501
constexpr MotionMagicConfigs & WithMotionMagicExpo_kA(ctre::unit::volts_per_turn_per_second_squared_t newMotionMagicExpo_kA)
Modifies this configuration's MotionMagicExpo_kA parameter and returns itself for method-chaining and...
Definition: Configs.hpp:3493
constexpr MotionMagicConfigs & WithMotionMagicExpo_kV(ctre::unit::volts_per_turn_per_second_t newMotionMagicExpo_kV)
Modifies this configuration's MotionMagicExpo_kV parameter and returns itself for method-chaining and...
Definition: Configs.hpp:3467
Configs that directly affect motor output.
Definition: Configs.hpp:589
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:800
units::dimensionless::scalar_t PeakReverseDutyCycle
Minimum (reverse) output during duty cycle based control modes.
Definition: Configs.hpp:634
signals::NeutralModeValue NeutralMode
The state of the motor controller bridge when output is neutral or disabled.
Definition: Configs.hpp:604
constexpr MotorOutputConfigs & WithNeutralMode(signals::NeutralModeValue newNeutralMode)
Modifies this configuration's NeutralMode parameter and returns itself for method-chaining and easier...
Definition: Configs.hpp:679
constexpr MotorOutputConfigs & WithControlTimesyncFreqHz(units::frequency::hertz_t newControlTimesyncFreqHz)
Modifies this configuration's ControlTimesyncFreqHz parameter and returns itself for method-chaining ...
Definition: Configs.hpp:766
units::dimensionless::scalar_t PeakForwardDutyCycle
Maximum (forward) output during duty cycle based control modes.
Definition: Configs.hpp:624
constexpr MotorOutputConfigs & WithPeakForwardDutyCycle(units::dimensionless::scalar_t newPeakForwardDutyCycle)
Modifies this configuration's PeakForwardDutyCycle parameter and returns itself for method-chaining a...
Definition: Configs.hpp:720
constexpr MotorOutputConfigs & WithDutyCycleNeutralDeadband(units::dimensionless::scalar_t newDutyCycleNeutralDeadband)
Modifies this configuration's DutyCycleNeutralDeadband parameter and returns itself for method-chaini...
Definition: Configs.hpp:700
constexpr MotorOutputConfigs()=default
std::string ToString() const override
Definition: Configs.hpp:774
signals::InvertedValue Inverted
Invert state of the device as seen from the front of the motor.
Definition: Configs.hpp:598
std::string Serialize() const override
Definition: Configs.hpp:787
constexpr MotorOutputConfigs & WithInverted(signals::InvertedValue newInverted)
Modifies this configuration's Inverted parameter and returns itself for method-chaining and easier to...
Definition: Configs.hpp:662
constexpr MotorOutputConfigs & WithPeakReverseDutyCycle(units::dimensionless::scalar_t newPeakReverseDutyCycle)
Modifies this configuration's PeakReverseDutyCycle parameter and returns itself for method-chaining a...
Definition: Configs.hpp:740
units::dimensionless::scalar_t DutyCycleNeutralDeadband
Configures the output deadband duty cycle during duty cycle and voltage based control modes.
Definition: Configs.hpp:614
units::frequency::hertz_t ControlTimesyncFreqHz
When a control request UseTimesync is enabled, this determines the time-sychronized frequency at whic...
Definition: Configs.hpp:650
Configs for Pigeon 2's Mount Pose configuration.
Definition: Configs.hpp:188
constexpr MountPoseConfigs & WithMountPoseRoll(units::angle::degree_t newMountPoseRoll)
Modifies this configuration's MountPoseRoll parameter and returns itself for method-chaining and easi...
Definition: Configs.hpp:274
constexpr MountPoseConfigs()=default
constexpr MountPoseConfigs & WithMountPoseYaw(units::angle::degree_t newMountPoseYaw)
Modifies this configuration's MountPoseYaw parameter and returns itself for method-chaining and easie...
Definition: Configs.hpp:234
units::angle::degree_t MountPoseRoll
The mounting calibration roll-component.
Definition: Configs.hpp:218
units::angle::degree_t MountPosePitch
The mounting calibration pitch-component.
Definition: Configs.hpp:209
std::string ToString() const override
Definition: Configs.hpp:282
constexpr MountPoseConfigs & WithMountPosePitch(units::angle::degree_t newMountPosePitch)
Modifies this configuration's MountPosePitch parameter and returns itself for method-chaining and eas...
Definition: Configs.hpp:254
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:302
units::angle::degree_t MountPoseYaw
The mounting calibration yaw-component.
Definition: Configs.hpp:200
std::string Serialize() const override
Definition: Configs.hpp:292
Configs that affect the open-loop control of this motor controller.
Definition: Configs.hpp:2134
constexpr OpenLoopRampsConfigs & WithVoltageOpenLoopRampPeriod(units::time::second_t newVoltageOpenLoopRampPeriod)
Modifies this configuration's VoltageOpenLoopRampPeriod parameter and returns itself for method-chain...
Definition: Configs.hpp:2224
constexpr OpenLoopRampsConfigs()=default
std::string Serialize() const override
Definition: Configs.hpp:2266
constexpr OpenLoopRampsConfigs & WithDutyCycleOpenLoopRampPeriod(units::time::second_t newDutyCycleOpenLoopRampPeriod)
Modifies this configuration's DutyCycleOpenLoopRampPeriod parameter and returns itself for method-cha...
Definition: Configs.hpp:2199
units::time::second_t VoltageOpenLoopRampPeriod
If non-zero, this determines how much time to ramp from 0V output to 12V during the open-loop Voltage...
Definition: Configs.hpp:2165
units::time::second_t TorqueOpenLoopRampPeriod
If non-zero, this determines how much time to ramp from 0A output to 300A during the open-loop Torque...
Definition: Configs.hpp:2178
std::string ToString() const override
Definition: Configs.hpp:2256
constexpr OpenLoopRampsConfigs & WithTorqueOpenLoopRampPeriod(units::time::second_t newTorqueOpenLoopRampPeriod)
Modifies this configuration's TorqueOpenLoopRampPeriod parameter and returns itself for method-chaini...
Definition: Configs.hpp:2248
units::time::second_t DutyCycleOpenLoopRampPeriod
If non-zero, this determines how much time to ramp from 0% output to 100% during the open-loop DutyCy...
Definition: Configs.hpp:2151
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:2276
Definition: Configs.hpp:38
friend std::ostream & operator<<(std::ostream &str, const ParentConfiguration &v)
Definition: Configs.hpp:41
virtual ctre::phoenix::StatusCode Deserialize(const std::string &string)=0
virtual std::string ToString() const =0
Configs to enable/disable various features of the Pigeon2.
Definition: Configs.hpp:469
constexpr Pigeon2FeaturesConfigs & WithEnableCompass(bool newEnableCompass)
Modifies this configuration's EnableCompass parameter and returns itself for method-chaining and easi...
Definition: Configs.hpp:508
bool DisableTemperatureCompensation
Disables using the temperature compensation feature.
Definition: Configs.hpp:487
constexpr Pigeon2FeaturesConfigs & WithDisableTemperatureCompensation(bool newDisableTemperatureCompensation)
Modifies this configuration's DisableTemperatureCompensation parameter and returns itself for method-...
Definition: Configs.hpp:525
std::string ToString() const override
Definition: Configs.hpp:550
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:570
constexpr Pigeon2FeaturesConfigs()=default
std::string Serialize() const override
Definition: Configs.hpp:560
bool DisableNoMotionCalibration
Disables using the no-motion calibration feature.
Definition: Configs.hpp:493
constexpr Pigeon2FeaturesConfigs & WithDisableNoMotionCalibration(bool newDisableNoMotionCalibration)
Modifies this configuration's DisableNoMotionCalibration parameter and returns itself for method-chai...
Definition: Configs.hpp:542
bool EnableCompass
Turns on or off the magnetometer fusing for 9-axis.
Definition: Configs.hpp:481
Gains for the specified slot.
Definition: Configs.hpp:3713
units::dimensionless::scalar_t kS
Static Feedforward Gain.
Definition: Configs.hpp:3791
constexpr Slot0Configs & WithKI(units::dimensionless::scalar_t newKI)
Modifies this configuration's kI parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:3927
units::dimensionless::scalar_t kA
Acceleration Feedforward Gain.
Definition: Configs.hpp:3824
static Slot0Configs From(const SlotConfigs &value)
signals::StaticFeedforwardSignValue StaticFeedforwardSign
Static Feedforward Sign during position closed loop.
Definition: Configs.hpp:3875
constexpr Slot0Configs & WithKA(units::dimensionless::scalar_t newKA)
Modifies this configuration's kA parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:4045
std::string ToString() const override
Definition: Configs.hpp:4137
signals::GravityTypeValue GravityType
Gravity Feedforward/Feedback Type.
Definition: Configs.hpp:3858
constexpr Slot0Configs & WithKS(units::dimensionless::scalar_t newKS)
Modifies this configuration's kS parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:3990
units::dimensionless::scalar_t kP
Proportional Gain.
Definition: Configs.hpp:3732
constexpr Slot0Configs & WithKP(units::dimensionless::scalar_t newKP)
Modifies this configuration's kP parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:3898
constexpr Slot0Configs & WithKV(units::dimensionless::scalar_t newKV)
Modifies this configuration's kV parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:4017
constexpr Slot0Configs & WithStaticFeedforwardSign(signals::StaticFeedforwardSignValue newStaticFeedforwardSign)
Modifies this configuration's StaticFeedforwardSign parameter and returns itself for method-chaining ...
Definition: Configs.hpp:4129
constexpr Slot0Configs()=default
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:4169
constexpr Slot0Configs & WithKG(units::dimensionless::scalar_t newKG)
Modifies this configuration's kG parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:4070
units::dimensionless::scalar_t kD
Derivative Gain.
Definition: Configs.hpp:3769
constexpr Slot0Configs & WithGravityType(signals::GravityTypeValue newGravityType)
Modifies this configuration's GravityType parameter and returns itself for method-chaining and easier...
Definition: Configs.hpp:4101
units::dimensionless::scalar_t kV
Velocity Feedforward Gain.
Definition: Configs.hpp:3807
constexpr Slot0Configs & WithKD(units::dimensionless::scalar_t newKD)
Modifies this configuration's kD parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:3957
units::dimensionless::scalar_t kG
Gravity Feedforward/Feedback Gain.
Definition: Configs.hpp:3838
units::dimensionless::scalar_t kI
Integral Gain.
Definition: Configs.hpp:3750
std::string Serialize() const override
Definition: Configs.hpp:4153
Gains for the specified slot.
Definition: Configs.hpp:4208
units::dimensionless::scalar_t kP
Proportional Gain.
Definition: Configs.hpp:4227
std::string Serialize() const override
Definition: Configs.hpp:4648
static Slot1Configs From(const SlotConfigs &value)
units::dimensionless::scalar_t kG
Gravity Feedforward/Feedback Gain.
Definition: Configs.hpp:4333
constexpr Slot1Configs & WithKI(units::dimensionless::scalar_t newKI)
Modifies this configuration's kI parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:4422
constexpr Slot1Configs & WithKS(units::dimensionless::scalar_t newKS)
Modifies this configuration's kS parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:4485
units::dimensionless::scalar_t kA
Acceleration Feedforward Gain.
Definition: Configs.hpp:4319
units::dimensionless::scalar_t kS
Static Feedforward Gain.
Definition: Configs.hpp:4286
units::dimensionless::scalar_t kD
Derivative Gain.
Definition: Configs.hpp:4264
units::dimensionless::scalar_t kI
Integral Gain.
Definition: Configs.hpp:4245
signals::StaticFeedforwardSignValue StaticFeedforwardSign
Static Feedforward Sign during position closed loop.
Definition: Configs.hpp:4370
units::dimensionless::scalar_t kV
Velocity Feedforward Gain.
Definition: Configs.hpp:4302
constexpr Slot1Configs & WithKP(units::dimensionless::scalar_t newKP)
Modifies this configuration's kP parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:4393
constexpr Slot1Configs()=default
constexpr Slot1Configs & WithKG(units::dimensionless::scalar_t newKG)
Modifies this configuration's kG parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:4565
constexpr Slot1Configs & WithKV(units::dimensionless::scalar_t newKV)
Modifies this configuration's kV parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:4512
constexpr Slot1Configs & WithKD(units::dimensionless::scalar_t newKD)
Modifies this configuration's kD parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:4452
constexpr Slot1Configs & WithStaticFeedforwardSign(signals::StaticFeedforwardSignValue newStaticFeedforwardSign)
Modifies this configuration's StaticFeedforwardSign parameter and returns itself for method-chaining ...
Definition: Configs.hpp:4624
constexpr Slot1Configs & WithKA(units::dimensionless::scalar_t newKA)
Modifies this configuration's kA parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:4540
std::string ToString() const override
Definition: Configs.hpp:4632
signals::GravityTypeValue GravityType
Gravity Feedforward/Feedback Type.
Definition: Configs.hpp:4353
constexpr Slot1Configs & WithGravityType(signals::GravityTypeValue newGravityType)
Modifies this configuration's GravityType parameter and returns itself for method-chaining and easier...
Definition: Configs.hpp:4596
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:4664
Gains for the specified slot.
Definition: Configs.hpp:4703
std::string Serialize() const override
Definition: Configs.hpp:5143
constexpr Slot2Configs & WithKG(units::dimensionless::scalar_t newKG)
Modifies this configuration's kG parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:5060
constexpr Slot2Configs & WithKD(units::dimensionless::scalar_t newKD)
Modifies this configuration's kD parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:4947
constexpr Slot2Configs & WithKS(units::dimensionless::scalar_t newKS)
Modifies this configuration's kS parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:4980
units::dimensionless::scalar_t kA
Acceleration Feedforward Gain.
Definition: Configs.hpp:4814
signals::GravityTypeValue GravityType
Gravity Feedforward/Feedback Type.
Definition: Configs.hpp:4848
constexpr Slot2Configs & WithGravityType(signals::GravityTypeValue newGravityType)
Modifies this configuration's GravityType parameter and returns itself for method-chaining and easier...
Definition: Configs.hpp:5091
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:5159
constexpr Slot2Configs & WithKI(units::dimensionless::scalar_t newKI)
Modifies this configuration's kI parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:4917
constexpr Slot2Configs & WithStaticFeedforwardSign(signals::StaticFeedforwardSignValue newStaticFeedforwardSign)
Modifies this configuration's StaticFeedforwardSign parameter and returns itself for method-chaining ...
Definition: Configs.hpp:5119
units::dimensionless::scalar_t kS
Static Feedforward Gain.
Definition: Configs.hpp:4781
constexpr Slot2Configs & WithKP(units::dimensionless::scalar_t newKP)
Modifies this configuration's kP parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:4888
units::dimensionless::scalar_t kV
Velocity Feedforward Gain.
Definition: Configs.hpp:4797
constexpr Slot2Configs()=default
static Slot2Configs From(const SlotConfigs &value)
units::dimensionless::scalar_t kD
Derivative Gain.
Definition: Configs.hpp:4759
constexpr Slot2Configs & WithKV(units::dimensionless::scalar_t newKV)
Modifies this configuration's kV parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:5007
units::dimensionless::scalar_t kP
Proportional Gain.
Definition: Configs.hpp:4722
signals::StaticFeedforwardSignValue StaticFeedforwardSign
Static Feedforward Sign during position closed loop.
Definition: Configs.hpp:4865
units::dimensionless::scalar_t kI
Integral Gain.
Definition: Configs.hpp:4740
std::string ToString() const override
Definition: Configs.hpp:5127
constexpr Slot2Configs & WithKA(units::dimensionless::scalar_t newKA)
Modifies this configuration's kA parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:5035
units::dimensionless::scalar_t kG
Gravity Feedforward/Feedback Gain.
Definition: Configs.hpp:4828
Gains for the specified slot.
Definition: Configs.hpp:5197
static SlotConfigs From(const Slot2Configs &value)
std::string ToString() const
Definition: Configs.hpp:5681
constexpr SlotConfigs & WithGravityType(signals::GravityTypeValue newGravityType)
Modifies this configuration's GravityType parameter and returns itself for method-chaining and easier...
Definition: Configs.hpp:5637
static SlotConfigs From(const Slot1Configs &value)
units::dimensionless::scalar_t kI
Integral Gain.
Definition: Configs.hpp:5286
constexpr SlotConfigs & WithKS(units::dimensionless::scalar_t newKS)
Modifies this configuration's kS parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:5526
constexpr SlotConfigs & WithStaticFeedforwardSign(signals::StaticFeedforwardSignValue newStaticFeedforwardSign)
Modifies this configuration's StaticFeedforwardSign parameter and returns itself for method-chaining ...
Definition: Configs.hpp:5665
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize)
Definition: Configs.hpp:5714
constexpr SlotConfigs & WithKD(units::dimensionless::scalar_t newKD)
Modifies this configuration's kD parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:5493
signals::StaticFeedforwardSignValue StaticFeedforwardSign
Static Feedforward Sign during position closed loop.
Definition: Configs.hpp:5411
units::dimensionless::scalar_t kV
Velocity Feedforward Gain.
Definition: Configs.hpp:5343
units::dimensionless::scalar_t kS
Static Feedforward Gain.
Definition: Configs.hpp:5327
constexpr SlotConfigs & WithKV(units::dimensionless::scalar_t newKV)
Modifies this configuration's kV parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:5553
units::dimensionless::scalar_t kP
Proportional Gain.
Definition: Configs.hpp:5268
constexpr SlotConfigs & WithKA(units::dimensionless::scalar_t newKA)
Modifies this configuration's kA parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:5581
int SlotNumber
Chooses which slot these configs are for.
Definition: Configs.hpp:5675
units::dimensionless::scalar_t kD
Derivative Gain.
Definition: Configs.hpp:5305
constexpr SlotConfigs & WithKP(units::dimensionless::scalar_t newKP)
Modifies this configuration's kP parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:5434
units::dimensionless::scalar_t kA
Acceleration Feedforward Gain.
Definition: Configs.hpp:5360
std::string Serialize() const
Definition: Configs.hpp:5697
static SlotConfigs From(const Slot0Configs &value)
constexpr SlotConfigs & WithKI(units::dimensionless::scalar_t newKI)
Modifies this configuration's kI parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:5463
signals::GravityTypeValue GravityType
Gravity Feedforward/Feedback Type.
Definition: Configs.hpp:5394
constexpr SlotConfigs & WithKG(units::dimensionless::scalar_t newKG)
Modifies this configuration's kG parameter and returns itself for method-chaining and easier to use c...
Definition: Configs.hpp:5606
constexpr SlotConfigs()=default
units::dimensionless::scalar_t kG
Gravity Feedforward/Feedback Gain.
Definition: Configs.hpp:5374
Configs that affect how software-limit switches behave.
Definition: Configs.hpp:3138
units::angle::turn_t ReverseSoftLimitThreshold
Position threshold for reverse soft limit features.
Definition: Configs.hpp:3175
constexpr SoftwareLimitSwitchConfigs()=default
std::string ToString() const override
Definition: Configs.hpp:3257
constexpr SoftwareLimitSwitchConfigs & WithForwardSoftLimitThreshold(units::angle::turn_t newForwardSoftLimitThreshold)
Modifies this configuration's ForwardSoftLimitThreshold parameter and returns itself for method-chain...
Definition: Configs.hpp:3228
units::angle::turn_t ForwardSoftLimitThreshold
Position threshold for forward soft limit features.
Definition: Configs.hpp:3165
constexpr SoftwareLimitSwitchConfigs & WithReverseSoftLimitThreshold(units::angle::turn_t newReverseSoftLimitThreshold)
Modifies this configuration's ReverseSoftLimitThreshold parameter and returns itself for method-chain...
Definition: Configs.hpp:3249
constexpr SoftwareLimitSwitchConfigs & WithReverseSoftLimitEnable(bool newReverseSoftLimitEnable)
Modifies this configuration's ReverseSoftLimitEnable parameter and returns itself for method-chaining...
Definition: Configs.hpp:3207
std::string Serialize() const override
Definition: Configs.hpp:3268
bool ReverseSoftLimitEnable
If enabled, the motor output is set to neutral if position exceeds ReverseSoftLimitThreshold and reve...
Definition: Configs.hpp:3155
constexpr SoftwareLimitSwitchConfigs & WithForwardSoftLimitEnable(bool newForwardSoftLimitEnable)
Modifies this configuration's ForwardSoftLimitEnable parameter and returns itself for method-chaining...
Definition: Configs.hpp:3189
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:3279
bool ForwardSoftLimitEnable
If enabled, the motor output is set to neutral if position exceeds ForwardSoftLimitThreshold and forw...
Definition: Configs.hpp:3148
Configs that affect Torque Current control types.
Definition: Configs.hpp:1284
std::string ToString() const override
Definition: Configs.hpp:1382
constexpr TorqueCurrentConfigs()=default
units::current::ampere_t PeakReverseTorqueCurrent
Minimum (reverse) output during torque current based control modes.
Definition: Configs.hpp:1307
units::current::ampere_t PeakForwardTorqueCurrent
Maximum (forward) output during torque current based control modes.
Definition: Configs.hpp:1297
constexpr TorqueCurrentConfigs & WithPeakForwardTorqueCurrent(units::current::ampere_t newPeakForwardTorqueCurrent)
Modifies this configuration's PeakForwardTorqueCurrent parameter and returns itself for method-chaini...
Definition: Configs.hpp:1333
constexpr TorqueCurrentConfigs & WithTorqueNeutralDeadband(units::current::ampere_t newTorqueNeutralDeadband)
Modifies this configuration's TorqueNeutralDeadband parameter and returns itself for method-chaining ...
Definition: Configs.hpp:1374
units::current::ampere_t TorqueNeutralDeadband
Configures the output deadband during torque current based control modes.
Definition: Configs.hpp:1317
constexpr TorqueCurrentConfigs & WithPeakReverseTorqueCurrent(units::current::ampere_t newPeakReverseTorqueCurrent)
Modifies this configuration's PeakReverseTorqueCurrent parameter and returns itself for method-chaini...
Definition: Configs.hpp:1353
std::string Serialize() const override
Definition: Configs.hpp:1392
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:1402
Configs that affect Voltage control types.
Definition: Configs.hpp:1134
units::voltage::volt_t PeakForwardVoltage
Maximum (forward) output during voltage based control modes.
Definition: Configs.hpp:1160
constexpr VoltageConfigs & WithPeakReverseVoltage(units::voltage::volt_t newPeakReverseVoltage)
Modifies this configuration's PeakReverseVoltage parameter and returns itself for method-chaining and...
Definition: Configs.hpp:1230
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition: Configs.hpp:1258
std::string Serialize() const override
Definition: Configs.hpp:1248
std::string ToString() const override
Definition: Configs.hpp:1238
units::time::second_t SupplyVoltageTimeConstant
The time constant (in seconds) of the low-pass filter for the supply voltage.
Definition: Configs.hpp:1151
constexpr VoltageConfigs & WithPeakForwardVoltage(units::voltage::volt_t newPeakForwardVoltage)
Modifies this configuration's PeakForwardVoltage parameter and returns itself for method-chaining and...
Definition: Configs.hpp:1210
constexpr VoltageConfigs & WithSupplyVoltageTimeConstant(units::time::second_t newSupplyVoltageTimeConstant)
Modifies this configuration's SupplyVoltageTimeConstant parameter and returns itself for method-chain...
Definition: Configs.hpp:1190
units::voltage::volt_t PeakReverseVoltage
Minimum (reverse) output during voltage based control modes.
Definition: Configs.hpp:1169
constexpr VoltageConfigs()=default
Class for CANcoder, a CAN based magnetic encoder that provides absolute and relative position along w...
Definition: CoreCANcoder.hpp:592
Class description for the Talon FX integrated motor controller.
Definition: CoreTalonFX.hpp:2813
The range of the absolute sensor in rotations, either [-0.5, 0.5) or [0, 1).
Definition: SpnEnums.hpp:830
static constexpr int Signed_PlusMinusHalf
Definition: SpnEnums.hpp:835
int value
Definition: SpnEnums.hpp:832
Choose what sensor source is used for differential control of a mechanism.
Definition: SpnEnums.hpp:2415
static constexpr int Disabled
Definition: SpnEnums.hpp:2419
int value
Definition: SpnEnums.hpp:2417
Choose what sensor source is reported via API and used by closed-loop and limit features.
Definition: SpnEnums.hpp:1807
int value
Definition: SpnEnums.hpp:1809
static constexpr int RotorSensor
Definition: SpnEnums.hpp:1811
Determines where to poll the forward limit switch.
Definition: SpnEnums.hpp:1978
static constexpr int LimitSwitchPin
Definition: SpnEnums.hpp:1982
int value
Definition: SpnEnums.hpp:1980
Determines if the forward limit switch is normally-open (default) or normally-closed.
Definition: SpnEnums.hpp:1891
static constexpr int NormallyOpen
Definition: SpnEnums.hpp:1895
int value
Definition: SpnEnums.hpp:1893
Gravity Feedforward/Feedback Type.
Definition: SpnEnums.hpp:1551
static constexpr int Elevator_Static
Definition: SpnEnums.hpp:1555
int value
Definition: SpnEnums.hpp:1553
Invert state of the device as seen from the front of the motor.
Definition: SpnEnums.hpp:1624
static constexpr int CounterClockwise_Positive
Definition: SpnEnums.hpp:1628
int value
Definition: SpnEnums.hpp:1626
The state of the motor controller bridge when output is neutral or disabled.
Definition: SpnEnums.hpp:1698
int value
Definition: SpnEnums.hpp:1700
static constexpr int Coast
Definition: SpnEnums.hpp:1702
Determines where to poll the reverse limit switch.
Definition: SpnEnums.hpp:2145
int value
Definition: SpnEnums.hpp:2147
static constexpr int LimitSwitchPin
Definition: SpnEnums.hpp:2149
Determines if the reverse limit switch is normally-open (default) or normally-closed.
Definition: SpnEnums.hpp:2058
static constexpr int NormallyOpen
Definition: SpnEnums.hpp:2062
int value
Definition: SpnEnums.hpp:2060
Direction of the sensor to determine positive rotation, as seen facing the LED side of the CANcoder.
Definition: SpnEnums.hpp:270
static constexpr int CounterClockwise_Positive
Definition: SpnEnums.hpp:274
int value
Definition: SpnEnums.hpp:272
Static Feedforward Sign during position closed loop.
Definition: SpnEnums.hpp:2508
int value
Definition: SpnEnums.hpp:2510
static constexpr int UseVelocitySign
Definition: SpnEnums.hpp:2512
Status codes reported by APIs, including OK, warnings, and errors.
Definition: StatusCodes.h:27
Represents the state of one swerve module.
Definition: StatusCodes.h:18