Public Member Functions
String	toString ()

String	toString (String prependString)

Public Attributes
double	kP

double	kI

double	kD

double	kF

double	integralZone

double	allowableClosedloopError

double	maxIntegralAccumulator

double	closedLoopPeakOutput

int	closedLoopPeriod

Detailed Description

Configurables available to a slot

Member Function Documentation

◆ toString() [1/2]

String com.ctre.phoenix.motorcontrol.can.SlotConfiguration.toString ( )

inline

Returns: String representation of configs

◆ toString() [2/2]

String com.ctre.phoenix.motorcontrol.can.SlotConfiguration.toString ( String prependString )

inline

Parameters

prependString String to prepend to configs

Returns: String representation of configs

Member Data Documentation

◆ allowableClosedloopError

double com.ctre.phoenix.motorcontrol.can.SlotConfiguration.allowableClosedloopError

Allowable closed loop error to neutral (in native units)

◆ closedLoopPeakOutput

double com.ctre.phoenix.motorcontrol.can.SlotConfiguration.closedLoopPeakOutput

Peak output from closed loop [0,1]

◆ closedLoopPeriod

int com.ctre.phoenix.motorcontrol.can.SlotConfiguration.closedLoopPeriod

Desired period of closed loop [1,64]ms

◆ integralZone

double com.ctre.phoenix.motorcontrol.can.SlotConfiguration.integralZone

Integral zone (in native units)

If the (absolute) closed-loop error is outside of this zone, integral accumulator is automatically cleared. This ensures than integral wind up events will stop after the sensor gets far enough from its target.

◆ kD

double com.ctre.phoenix.motorcontrol.can.SlotConfiguration.kD

D Gain

This is multiplied by derivative error (sensor units per PID loop, typically 1ms).
Note the closed loop output interprets a final value of 1023 as full output.
So use a gain of '250' to get full output if derr is 4096u (Mag Encoder 1 rotation) per 1000 loops (typ 1 sec)

◆ kF

double com.ctre.phoenix.motorcontrol.can.SlotConfiguration.kF

F Gain

See documentation for calculation details.
If using velocity, motion magic, or motion profile, use (1023 * duty-cycle / sensor-velocity-sensor-units-per-100ms).

◆ kI

double com.ctre.phoenix.motorcontrol.can.SlotConfiguration.kI

I Gain

This is multiplied by accumulated closed loop error in sensor units every PID Loop.
Note the closed loop output interprets a final value of 1023 as full output.
So use a gain of '0.00025' to get full output if err is 4096u for 1000 loops (accumulater holds 4,096,000), [which is equivalent to one CTRE mag encoder rotation for 1000 milliseconds].

◆ kP

double com.ctre.phoenix.motorcontrol.can.SlotConfiguration.kP

P Gain

This is multiplied by closed loop error in sensor units.
Note the closed loop output interprets a final value of 1023 as full output.
So use a gain of '0.25' to get full output if err is 4096u (Mag Encoder 1 rotation)

◆ maxIntegralAccumulator

double com.ctre.phoenix.motorcontrol.can.SlotConfiguration.maxIntegralAccumulator

Max integral accumulator (in native units)

The documentation for this class was generated from the following file:

Phoenix-api/java/src/main/java/com/ctre/phoenix/motorcontrol/can/SlotConfiguration.java

Public Member Functions

Public Attributes