CTRE Phoenix 6 C++ 24.50.0-alpha-2
ctre::phoenix6::signals::GravityTypeValue Class Reference

Gravity Feedforward/Feedback Type. More...

#include <ctre/phoenix6/signals/SpnEnums.hpp>

Inheritance diagram for ctre::phoenix6::signals::GravityTypeValue:
ctre::phoenix6::ISerializable

Public Member Functions

constexpr GravityTypeValue (int value)
 
constexpr GravityTypeValue ()
 
constexpr bool operator== (GravityTypeValue data) const
 
constexpr bool operator== (int data) const
 
constexpr bool operator!= (GravityTypeValue data) const
 
constexpr bool operator!= (int data) const
 
constexpr bool operator< (GravityTypeValue data) const
 
constexpr bool operator< (int data) const
 
std::string ToString () const
 Gets the string representation of this enum. More...
 
std::string Serialize () const
 
virtual std::string Serialize () const =0
 

Public Attributes

int value
 

Static Public Attributes

static constexpr int Elevator_Static = 0
 
static constexpr int Arm_Cosine = 1
 

Friends

std::ostream & operator<< (std::ostream &os, GravityTypeValue data)
 

Detailed Description

Gravity Feedforward/Feedback Type.

This determines the type of the gravity feedforward/feedback.

     Choose Elevator_Static for systems where the gravity feedforward is
     constant, such as an elevator. The gravity feedforward output will
     always have the same sign.

     Choose Arm_Cosine for systems where the gravity feedback is
     dependent on the angular position of the mechanism, such as an arm.
     The gravity feedback output will vary depending on the mechanism
     angular position. Note that the sensor offset and ratios must be
     configured so that the sensor reports a position of 0 when the
     mechanism is horizonal (parallel to the ground), and the reported
     sensor position is 1:1 with the mechanism.

Constructor & Destructor Documentation

◆ GravityTypeValue() [1/2]

constexpr ctre::phoenix6::signals::GravityTypeValue::GravityTypeValue ( int  value)
inlineconstexpr

◆ GravityTypeValue() [2/2]

constexpr ctre::phoenix6::signals::GravityTypeValue::GravityTypeValue ( )
inlineconstexpr

Member Function Documentation

◆ operator!=() [1/2]

constexpr bool ctre::phoenix6::signals::GravityTypeValue::operator!= ( GravityTypeValue  data) const
inlineconstexpr

◆ operator!=() [2/2]

constexpr bool ctre::phoenix6::signals::GravityTypeValue::operator!= ( int  data) const
inlineconstexpr

◆ operator<() [1/2]

constexpr bool ctre::phoenix6::signals::GravityTypeValue::operator< ( GravityTypeValue  data) const
inlineconstexpr

◆ operator<() [2/2]

constexpr bool ctre::phoenix6::signals::GravityTypeValue::operator< ( int  data) const
inlineconstexpr

◆ operator==() [1/2]

constexpr bool ctre::phoenix6::signals::GravityTypeValue::operator== ( GravityTypeValue  data) const
inlineconstexpr

◆ operator==() [2/2]

constexpr bool ctre::phoenix6::signals::GravityTypeValue::operator== ( int  data) const
inlineconstexpr

◆ Serialize()

std::string ctre::phoenix6::signals::GravityTypeValue::Serialize ( ) const
inlinevirtual

◆ ToString()

std::string ctre::phoenix6::signals::GravityTypeValue::ToString ( ) const
inline

Gets the string representation of this enum.

Returns
String representation of this enum

Friends And Related Function Documentation

◆ operator<<

std::ostream & operator<< ( std::ostream &  os,
GravityTypeValue  data 
)
friend

Member Data Documentation

◆ Arm_Cosine

constexpr int ctre::phoenix6::signals::GravityTypeValue::Arm_Cosine = 1
staticconstexpr

◆ Elevator_Static

constexpr int ctre::phoenix6::signals::GravityTypeValue::Elevator_Static = 0
staticconstexpr

◆ value

int ctre::phoenix6::signals::GravityTypeValue::value

The documentation for this class was generated from the following file: