Class TorqueCurrentConfigs

java.lang.Object
com.ctre.phoenix6.configs.TorqueCurrentConfigs
All Implemented Interfaces:
ParentConfiguration, Cloneable
public class TorqueCurrentConfigs extends Object implements ParentConfiguration, Cloneable
Configs that affect Torque Current control types.

Includes the maximum and minimum applied torque output and the neutral deadband used during TorqueCurrentFOC requests.

  • Field Details

    • PeakForwardTorqueCurrent

      public double PeakForwardTorqueCurrent
      Maximum (forward) output during torque current based control modes.
      • Minimum Value: -800
      • Maximum Value: 800
      • Default Value: 800
      • Units: A

    • PeakReverseTorqueCurrent

      public double PeakReverseTorqueCurrent
      Minimum (reverse) output during torque current based control modes.
      • Minimum Value: -800
      • Maximum Value: 800
      • Default Value: -800
      • Units: A

    • TorqueNeutralDeadband

      public double TorqueNeutralDeadband
      Configures the output deadband during torque current based control modes.
      • Minimum Value: 0
      • Maximum Value: 25
      • Default Value: 0.0
      • Units: A

  • Constructor Details

    • TorqueCurrentConfigs

      public TorqueCurrentConfigs()

  • Method Details

    • withPeakForwardTorqueCurrent

      public final TorqueCurrentConfigs withPeakForwardTorqueCurrent(double newPeakForwardTorqueCurrent)
      Modifies this configuration's PeakForwardTorqueCurrent parameter and returns itself for method-chaining and easier to use config API.

      Maximum (forward) output during torque current based control modes.

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

    • withPeakForwardTorqueCurrent

      public final TorqueCurrentConfigs withPeakForwardTorqueCurrent(Current newPeakForwardTorqueCurrent)
      Modifies this configuration's PeakForwardTorqueCurrent parameter and returns itself for method-chaining and easier to use config API.

      Maximum (forward) output during torque current based control modes.

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

    • getPeakForwardTorqueCurrentMeasure

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

      Maximum (forward) output during torque current based control modes.

      • Minimum Value: -800
      • Maximum Value: 800
      • Default Value: 800
      • Units: A
      Returns:
      PeakForwardTorqueCurrent

    • withPeakReverseTorqueCurrent

      public final TorqueCurrentConfigs withPeakReverseTorqueCurrent(double newPeakReverseTorqueCurrent)
      Modifies this configuration's PeakReverseTorqueCurrent parameter and returns itself for method-chaining and easier to use config API.

      Minimum (reverse) output during torque current based control modes.

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

    • withPeakReverseTorqueCurrent

      public final TorqueCurrentConfigs withPeakReverseTorqueCurrent(Current newPeakReverseTorqueCurrent)
      Modifies this configuration's PeakReverseTorqueCurrent parameter and returns itself for method-chaining and easier to use config API.

      Minimum (reverse) output during torque current based control modes.

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

    • getPeakReverseTorqueCurrentMeasure

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

      Minimum (reverse) output during torque current based control modes.

      • Minimum Value: -800
      • Maximum Value: 800
      • Default Value: -800
      • Units: A
      Returns:
      PeakReverseTorqueCurrent

    • withTorqueNeutralDeadband

      public final TorqueCurrentConfigs withTorqueNeutralDeadband(double newTorqueNeutralDeadband)
      Modifies this configuration's TorqueNeutralDeadband parameter and returns itself for method-chaining and easier to use config API.

      Configures the output deadband during torque current based control modes.

      • Minimum Value: 0
      • Maximum Value: 25
      • Default Value: 0.0
      • Units: A
      Parameters:
      newTorqueNeutralDeadband - Parameter to modify
      Returns:
      Itself

    • withTorqueNeutralDeadband

      public final TorqueCurrentConfigs withTorqueNeutralDeadband(Current newTorqueNeutralDeadband)
      Modifies this configuration's TorqueNeutralDeadband parameter and returns itself for method-chaining and easier to use config API.

      Configures the output deadband during torque current based control modes.

      • Minimum Value: 0
      • Maximum Value: 25
      • Default Value: 0.0
      • Units: A
      Parameters:
      newTorqueNeutralDeadband - Parameter to modify
      Returns:
      Itself

    • getTorqueNeutralDeadbandMeasure

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

      Configures the output deadband during torque current based control modes.

      • Minimum Value: 0
      • Maximum Value: 25
      • Default Value: 0.0
      • Units: A
      Returns:
      TorqueNeutralDeadband

    • 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 TorqueCurrentConfigs clone()
      Overrides:
      clone in class Object