Class DifferentialConstantsConfigs

java.lang.Object
com.ctre.phoenix6.configs.DifferentialConstantsConfigs
All Implemented Interfaces:
ParentConfiguration, Cloneable
public class DifferentialConstantsConfigs extends Object implements ParentConfiguration, Cloneable
Configs related to constants used for differential control of a mechanism.

Includes the differential peak outputs.

  • Field Details

    • PeakDifferentialDutyCycle

      public double PeakDifferentialDutyCycle
      Maximum differential output during duty cycle based differential control modes.
      • Minimum Value: 0.0
      • Maximum Value: 1.0
      • Default Value: 1.0
      • Units: fractional

    • PeakDifferentialVoltage

      public double PeakDifferentialVoltage
      Maximum differential output during voltage based differential control modes.
      • Minimum Value: 0.0
      • Maximum Value: 32
      • Default Value: 16
      • Units: V

    • PeakDifferentialTorqueCurrent

      public double PeakDifferentialTorqueCurrent
      Maximum differential output during torque current based differential control modes.
      • Minimum Value: 0.0
      • Maximum Value: 800
      • Default Value: 800
      • Units: A

  • Constructor Details

    • DifferentialConstantsConfigs

      public DifferentialConstantsConfigs()

  • Method Details

    • withPeakDifferentialDutyCycle

      public final DifferentialConstantsConfigs withPeakDifferentialDutyCycle(double newPeakDifferentialDutyCycle)
      Modifies this configuration's PeakDifferentialDutyCycle parameter and returns itself for method-chaining and easier to use config API.

      Maximum differential output during duty cycle based differential control modes.

      • Minimum Value: 0.0
      • Maximum Value: 1.0
      • Default Value: 1.0
      • Units: fractional
      Parameters:
      newPeakDifferentialDutyCycle - Parameter to modify
      Returns:
      Itself

    • withPeakDifferentialVoltage

      public final DifferentialConstantsConfigs withPeakDifferentialVoltage(double newPeakDifferentialVoltage)
      Modifies this configuration's PeakDifferentialVoltage parameter and returns itself for method-chaining and easier to use config API.

      Maximum differential output during voltage based differential control modes.

      • Minimum Value: 0.0
      • Maximum Value: 32
      • Default Value: 16
      • Units: V
      Parameters:
      newPeakDifferentialVoltage - Parameter to modify
      Returns:
      Itself

    • withPeakDifferentialVoltage

      public final DifferentialConstantsConfigs withPeakDifferentialVoltage(Voltage newPeakDifferentialVoltage)
      Modifies this configuration's PeakDifferentialVoltage parameter and returns itself for method-chaining and easier to use config API.

      Maximum differential output during voltage based differential control modes.

      • Minimum Value: 0.0
      • Maximum Value: 32
      • Default Value: 16
      • Units: V
      Parameters:
      newPeakDifferentialVoltage - Parameter to modify
      Returns:
      Itself

    • getPeakDifferentialVoltageMeasure

      public final Voltage getPeakDifferentialVoltageMeasure()
      Helper method to get this configuration's PeakDifferentialVoltage parameter converted to a unit type. If not using the Java units library, PeakDifferentialVoltage can be accessed directly instead.

      Maximum differential output during voltage based differential control modes.

      • Minimum Value: 0.0
      • Maximum Value: 32
      • Default Value: 16
      • Units: V
      Returns:
      PeakDifferentialVoltage

    • withPeakDifferentialTorqueCurrent

      public final DifferentialConstantsConfigs withPeakDifferentialTorqueCurrent(double newPeakDifferentialTorqueCurrent)
      Modifies this configuration's PeakDifferentialTorqueCurrent parameter and returns itself for method-chaining and easier to use config API.

      Maximum differential output during torque current based differential control modes.

      • Minimum Value: 0.0
      • Maximum Value: 800
      • Default Value: 800
      • Units: A
      Parameters:
      newPeakDifferentialTorqueCurrent - Parameter to modify
      Returns:
      Itself

    • withPeakDifferentialTorqueCurrent

      public final DifferentialConstantsConfigs withPeakDifferentialTorqueCurrent(Current newPeakDifferentialTorqueCurrent)
      Modifies this configuration's PeakDifferentialTorqueCurrent parameter and returns itself for method-chaining and easier to use config API.

      Maximum differential output during torque current based differential control modes.

      • Minimum Value: 0.0
      • Maximum Value: 800
      • Default Value: 800
      • Units: A
      Parameters:
      newPeakDifferentialTorqueCurrent - Parameter to modify
      Returns:
      Itself

    • getPeakDifferentialTorqueCurrentMeasure

      public final Current getPeakDifferentialTorqueCurrentMeasure()
      Helper method to get this configuration's PeakDifferentialTorqueCurrent parameter converted to a unit type. If not using the Java units library, PeakDifferentialTorqueCurrent can be accessed directly instead.

      Maximum differential output during torque current based differential control modes.

      • Minimum Value: 0.0
      • Maximum Value: 800
      • Default Value: 800
      • Units: A
      Returns:
      PeakDifferentialTorqueCurrent

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • serialize

      public final String serialize()
      Get the serialized form of this configuration group.
      Specified by:
      serialize in interface ParentConfiguration
      Returns:
      Serialized form of this config group

    • deserialize

      public final StatusCode deserialize(String to_deserialize)
      Take a string and deserialize it to this configuration group.
      Specified by:
      deserialize in interface ParentConfiguration
      Parameters:
      to_deserialize - The serialized configuration
      Returns:
      Return code of the deserialize method

    • clone

      public DifferentialConstantsConfigs clone()
      Overrides:
      clone in class Object