Enum Class GainSchedBehaviorValue

java.lang.Object
java.lang.Enum<GainSchedBehaviorValue>
com.ctre.phoenix6.signals.GainSchedBehaviorValue
All Implemented Interfaces:
Serializable, Comparable<GainSchedBehaviorValue>, Constable
public enum GainSchedBehaviorValue extends Enum<GainSchedBehaviorValue>
The behavior of the gain scheduler on this slot. This specifies which gains to use while within the configured GainSchedErrorThreshold. The default is to continue using the specified slot.

Gain scheduling will not take effect when running velocity closed-loop controls.

  • Enum Constant Details

    • Inactive

      public static final GainSchedBehaviorValue Inactive
      No gain scheduling will occur.

    • ZeroOutput

      public static final GainSchedBehaviorValue ZeroOutput
      The output of the PID controller will be completely zeroed, except for kG and the user FeedForward control request parameter.

    • UseSlot0

      public static final GainSchedBehaviorValue UseSlot0
      Switch to Slot 0 while within the configured GainSchedErrorThreshold.

    • UseSlot1

      public static final GainSchedBehaviorValue UseSlot1
      Switch to Slot 1 while within the configured GainSchedErrorThreshold.

    • UseSlot2

      public static final GainSchedBehaviorValue UseSlot2
      Switch to Slot 2 while within the configured GainSchedErrorThreshold.

  • Field Details

    • value

      public final int value
      Unique integer value of this GainSchedBehaviorValue.

  • Method Details

    • values

      public static GainSchedBehaviorValue[] values()
      Returns an array containing the constants of this enum class, in the order they are declared.
      Returns:
      an array containing the constants of this enum class, in the order they are declared

    • valueOf

      public static GainSchedBehaviorValue valueOf(String name)
      Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)
      Parameters:
      name - the name of the enum constant to be returned.
      Returns:
      the enum constant with the specified name
      Throws:
      IllegalArgumentException - if this enum class has no constant with the specified name
      NullPointerException - if the argument is null

    • valueOf

      public static GainSchedBehaviorValue valueOf(int value)
      Gets GainSchedBehaviorValue from specified value
      Parameters:
      value - Value of GainSchedBehaviorValue
      Returns:
      GainSchedBehaviorValue of specified value