Package com.ctre.phoenix.motorcontrol.can

Class SlotConfiguration

java.lang.Object
com.ctre.phoenix.motorcontrol.can.SlotConfiguration
public class SlotConfiguration extends Object
Configurables available to a slot

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    double
    allowableClosedloopError
    Allowable closed loop error to neutral (in native units)
    double
    closedLoopPeakOutput
    Peak output from closed loop [0,1]
    int
    closedLoopPeriod
    Desired period of closed loop [1,64]ms
    double
    integralZone
    Integral zone (in native units) If the (absolute) closed-loop error is outside of this zone, integral accumulator is automatically cleared.
    double
    kD
    D Gain This is multiplied by derivative error (sensor units per PID loop, typically 1ms).
    double
    kF
    F Gain See documentation for calculation details.
    double
    kI
    I Gain This is multiplied by accumulated closed loop error in sensor units every PID Loop.
    double
    kP
    P Gain This is multiplied by closed loop error in sensor units.
    double
    maxIntegralAccumulator
    Max integral accumulator (in native units)

  • Constructor Summary

    Constructors
    Constructor
    Description
    SlotConfiguration()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    String
    toString()
     
    String
    toString(String prependString)
     

    Methods inherited from class java.lang.Object

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

  • Field Details

    • kP

      public double kP
      P Gain This is multiplied by closed loop error in sensor units. Note the closed loop output interprets a final value of 1023 as full output. So use a gain of '0.25' to get full output if err is 4096u (Mag Encoder 1 rotation)

    • kI

      public double kI
      I Gain This is multiplied by accumulated closed loop error in sensor units every PID Loop. Note the closed loop output interprets a final value of 1023 as full output. So use a gain of '0.00025' to get full output if err is 4096u for 1000 loops (accumulater holds 4,096,000), [which is equivalent to one CTRE mag encoder rotation for 1000 milliseconds].

    • kD

      public double kD
      D Gain This is multiplied by derivative error (sensor units per PID loop, typically 1ms). Note the closed loop output interprets a final value of 1023 as full output. So use a gain of '250' to get full output if derr is 4096u (Mag Encoder 1 rotation) per 1000 loops (typ 1 sec)

    • kF

      public double kF
      F Gain See documentation for calculation details. If using velocity, motion magic, or motion profile, use (1023 * duty-cycle / sensor-velocity-sensor-units-per-100ms).

    • integralZone

      public double integralZone
      Integral zone (in native units) If the (absolute) closed-loop error is outside of this zone, integral accumulator is automatically cleared. This ensures than integral wind up events will stop after the sensor gets far enough from its target.

    • allowableClosedloopError

      public double allowableClosedloopError
      Allowable closed loop error to neutral (in native units)

    • maxIntegralAccumulator

      public double maxIntegralAccumulator
      Max integral accumulator (in native units)

    • closedLoopPeakOutput

      public double closedLoopPeakOutput
      Peak output from closed loop [0,1]

    • closedLoopPeriod

      public int closedLoopPeriod
      Desired period of closed loop [1,64]ms

  • Constructor Details

  • Method Details

    • toString

      public String toString()
      Overrides:
      toString in class Object
      Returns:
      String representation of configs

    • toString

      public String toString(String prependString)
      Parameters:
      prependString - String to prepend to configs
      Returns:
      String representation of configs