Enum Class StaticFeedforwardSignValue

java.lang.Object

java.lang.Enum<StaticFeedforwardSignValue>

com.ctre.phoenix6.signals.StaticFeedforwardSignValue

All Implemented Interfaces:

Serializable, Comparable<StaticFeedforwardSignValue>, Constable

public enum StaticFeedforwardSignValue
extends Enum<StaticFeedforwardSignValue>

Static feedforward sign during position closed loop.

This determines the sign of the applied kS during position closed-loop modes. The default behavior uses the velocity reference sign. This works well with velocity closed loop, Motion Magic® controls, and position closed loop when velocity reference is specified (motion profiling).

However, when using position closed loop with zero velocity reference (no motion profiling), the application may want to apply static feedforward based on the sign of closed loop error instead. When doing so, we recommend using the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.

Nested Class Summary

Nested classes/interfaces inherited from class Enum

Enum.EnumDesc<E>

Enum Constant Summary

Enum Constants

Enum Constant	Description
UseClosedLoopSign	Use the sign of closed loop error.
UseVelocitySign	Use the velocity reference sign.

Field Summary

Fields

Modifier and Type	Field	Description
final int	value	Unique integer value of this StaticFeedforwardSignValue.

Method Summary

Modifier and Type	Method	Description
static StaticFeedforwardSignValue	valueOf(int value)	Gets StaticFeedforwardSignValue from specified value
static StaticFeedforwardSignValue	valueOf(String name)	Returns the enum constant of this class with the specified name.
static StaticFeedforwardSignValue[]	values()	Returns an array containing the constants of this enum class, in the order they are declared.

Methods inherited from class Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

UseVelocitySign

public static final StaticFeedforwardSignValue UseVelocitySign

Use the velocity reference sign. This works well with velocity closed loop, Motion Magic® controls, and position closed loop when velocity reference is specified (motion profiling).

UseClosedLoopSign

public static final StaticFeedforwardSignValue UseClosedLoopSign

Use the sign of closed loop error. This is useful when using position closed loop with zero velocity reference (no motion profiling). We recommend the minimal amount of kS, otherwise the motor output may dither when closed loop error is near zero.

Field Details

value

public final int value

Unique integer value of this StaticFeedforwardSignValue.

Method Details

values

public static StaticFeedforwardSignValue[] 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 StaticFeedforwardSignValue 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 StaticFeedforwardSignValue valueOf(int value)

Gets StaticFeedforwardSignValue from specified value

Parameters:

value - Value of StaticFeedforwardSignValue

Returns:

StaticFeedforwardSignValue of specified value