001package com.ctre.phoenix;
002
003/**
004 * All the params available to Phoenix
005 */
006public enum ParamEnum
007        {
008        eOnBoot_BrakeMode ( 31),
009        eQuadFilterEn ( 91),
010        eQuadIdxPolarity(108),
011    eMotionProfileHasUnderrunErr (119),
012    eMotionProfileTrajectoryPointDurationMs (120), //motionProfileTrajectoryPeriod
013
014        eStatusFramePeriod(300),
015        eOpenloopRamp(301),
016        eClosedloopRamp(302),
017        eNeutralDeadband(303),
018
019        ePeakPosOutput(305),
020        eNominalPosOutput(306),
021        ePeakNegOutput(307),
022        eNominalNegOutput(308),
023
024        eProfileParamSlot_P(310),
025        eProfileParamSlot_I(311),
026        eProfileParamSlot_D(312),
027        eProfileParamSlot_F(313),
028        eProfileParamSlot_IZone(314),
029        eProfileParamSlot_AllowableErr(315),
030        eProfileParamSlot_MaxIAccum(316),
031        eProfileParamSlot_PeakOutput(317),
032
033        eClearPositionOnLimitF(320),
034        eClearPositionOnLimitR(321),
035        eClearPositionOnQuadIdx(322),
036
037        eSampleVelocityPeriod(325),
038        eSampleVelocityWindow(326),
039
040        eFeedbackSensorType(330),
041    eSelectedSensorPosition(331),
042        eFeedbackNotContinuous (332),
043        eRemoteSensorSource (333), // RemoteSensorSource_t
044        eRemoteSensorDeviceID (334), // [0,62] DeviceID
045        eSensorTerm (335), // feedbackDevice_t (ordinal is the register)
046        eRemoteSensorClosedLoopDisableNeutralOnLOS (336),
047        ePIDLoopPolarity(337),
048        ePIDLoopPeriod(338),
049        eSelectedSensorCoefficient(339),
050
051        eForwardSoftLimitThreshold(340),
052        eReverseSoftLimitThreshold(341),
053        eForwardSoftLimitEnable(342),
054        eReverseSoftLimitEnable(343),
055
056        eNominalBatteryVoltage(350),
057        eBatteryVoltageFilterSize(351),
058
059        eContinuousCurrentLimitAmps(360),
060        ePeakCurrentLimitMs(361),
061        ePeakCurrentLimitAmps(362),
062
063        eClosedLoopIAccum(370),
064
065        eCustomParam(380),
066
067        eStickyFaults(390),
068
069        eAnalogPosition(400),
070        eQuadraturePosition(401),
071        ePulseWidthPosition(402),
072
073        eMotMag_Accel(410),
074        eMotMag_VelCruise(411),
075        eMotMag_SCurveLevel(412),
076
077        eLimitSwitchSource (421), // ordinal (fwd=0,reverse=1), @see LimitSwitchSource_t
078        eLimitSwitchNormClosedAndDis ( 422), // ordinal (fwd=0,reverse=1). @see LimitSwitchNormClosedAndDis_t
079        eLimitSwitchDisableNeutralOnLOS ( 423),
080        eLimitSwitchRemoteDevID ( 424),
081        eSoftLimitDisableNeutralOnLOS(425),
082
083        ePulseWidthPeriod_EdgesPerRot(430),
084        ePulseWidthPeriod_FilterWindowSz(431),
085
086        eYawOffset(160),
087        eCompassOffset(161),
088        eBetaGain(162),
089        eEnableCompassFusion(163),
090        eGyroNoMotionCal (      164),
091        eEnterCalibration (     165),
092        eFusedHeadingOffset     ( 166),
093        eStatusFrameRate        ( 169),
094        eAccumZ ( 170),
095        eTempCompDisable        ( 171),
096        eMotionMeas_tap_threshX ( 172),
097        eMotionMeas_tap_threshY ( 173),
098        eMotionMeas_tap_threshZ ( 174),
099        eMotionMeas_tap_count ( 175),
100        eMotionMeas_tap_time ( 176),
101        eMotionMeas_tap_time_multi ( 177),
102        eMotionMeas_shake_reject_thresh ( 178),
103        eMotionMeas_shake_reject_time ( 179),
104        eMotionMeas_shake_reject_timeout ( 180),
105        
106        eDefaultConfig(500),
107
108        /* CANCoder */
109        eSensorInitStrategy(700),
110        eSensorDirection(701),
111        eMagnetOffset(702),
112        eSensorSync(703),
113        eAbsSensorRange(704),
114
115        /* Pigeon2 */
116    eChangeCompassUse(800),
117    eRestartKalman(801),
118    eAccNoiseAmplificationGain(802),
119    eMagNoiseAmplificationGain(803),
120    eGyrNoiseAmplificationGain(804),
121    eMaxAccKg(805),
122    eMaxMagKg(806),
123    eGyroBias(807),
124    eAccelOffsets(808),
125    eMagCal(809),
126    eMagCalSlot(810),
127    eMagCalRunning(811),
128    eGyrResolution(812),
129    eAccelKalmanBiasGain(813),
130    eMagKalmanBiasGain(814),
131    eTempCalRunning(815),
132    eApplyTempCal(816),
133    eClearTempCal(817),
134    eDontRunThermComp(818),
135    eChangeHeatOutput(819),
136    eSetNoMotionCalDisable(820),
137    eClearMagCal(821),
138    eSetGyrSensitivity(822),
139    eSetVsenseScalar(823),
140    eConfigMountPoseYaw(824),
141    eConfigMountPosePitch(825),
142    eConfigMountPoseRoll(826),
143    eConfigAccelScalar(826),
144
145        /* CANdle */
146    eLEDStripType(900),
147    eLossOfSignalBehavior(901), 
148    eBrightnessCoefficient(902),
149        eStatusLedState(903),
150        eVBatOutput(904);
151
152        public final int value;
153        ParamEnum(int initValue)
154        {
155                this.value = initValue;
156        }
157};