Package com.revrobotics.spark.config

Class ClosedLoopConfigAccessor

java.lang.Object

com.revrobotics.spark.config.ClosedLoopConfigAccessor

public class ClosedLoopConfigAccessor
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
final FeedForwardConfigAccessor	feedForward
final MAXMotionConfigAccessor	maxMotion	Accessor for parameters relating to the MAXMotion.
final SmartMotionConfigAccessor	smartMotion	Accessor for parameters relating to the Software Limits.

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	ClosedLoopConfigAccessor(long sparkHandle)

Method Summary

Modifier and Type	Method	Description
double	getAllowedClosedLoopError(ClosedLoopSlot slot)
double	getD()
double	getD(ClosedLoopSlot slot)
double	getDFilter()
double	getDFilter(ClosedLoopSlot slot)
FeedbackSensor	getFeedbackSensor()
double	getFF()	Deprecated, for removal: This API element is subject to removal in a future version. Use FeedForwardConfigAccessor.getkV() to get this gain
double	getFF(ClosedLoopSlot slot)	Deprecated, for removal: This API element is subject to removal in a future version. Use FeedForwardConfigAccessor.getkV(ClosedLoopSlot slot) to get this gain
double	getI()
double	getI(ClosedLoopSlot slot)
double	getIZone()
double	getIZone(ClosedLoopSlot slot)
double	getMaxIAccumulation()
double	getMaxIAccumulation(ClosedLoopSlot slot)
double	getMaxOutput()
double	getMaxOutput(ClosedLoopSlot slot)
double	getMinOutput()
double	getMinOutput(ClosedLoopSlot slot)
double	getP()
double	getP(ClosedLoopSlot slot)
boolean	getPositionWrappingEnabled()
double	getPositionWrappingMaxInput()
double	getPositionWrappingMinInput()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

maxMotion

public final MAXMotionConfigAccessor maxMotion

Accessor for parameters relating to the MAXMotion. To configure these values, use MAXMotionConfig and call SparkBase.configure(SparkBaseConfig, SparkBase.ResetMode, SparkBase.PersistMode)

smartMotion

public final SmartMotionConfigAccessor smartMotion

Accessor for parameters relating to the Software Limits. To configure these values, use SmartMotionConfig and call SparkBase.configure(SparkBaseConfig, SparkBase.ResetMode, SparkBase.PersistMode)

feedForward

public final FeedForwardConfigAccessor feedForward

Constructor Details

ClosedLoopConfigAccessor

protected ClosedLoopConfigAccessor(long sparkHandle)

Method Details

getP

public double getP()

getI

public double getI()

getD

public double getD()

getFF

@Deprecated(forRemoval=true)
public double getFF()

Deprecated, for removal: This API element is subject to removal in a future version.

Use FeedForwardConfigAccessor.getkV() to get this gain

getDFilter

public double getDFilter()

getIZone

public double getIZone()

getMinOutput

public double getMinOutput()

getMaxOutput

public double getMaxOutput()

getP

public double getP(ClosedLoopSlot slot)

getI

public double getI(ClosedLoopSlot slot)

getD

public double getD(ClosedLoopSlot slot)

getFF

@Deprecated(forRemoval=true)
public double getFF(ClosedLoopSlot slot)

Deprecated, for removal: This API element is subject to removal in a future version.

Use FeedForwardConfigAccessor.getkV(ClosedLoopSlot slot) to get this gain

getDFilter

public double getDFilter(ClosedLoopSlot slot)

getIZone

public double getIZone(ClosedLoopSlot slot)

getMinOutput

public double getMinOutput(ClosedLoopSlot slot)

getMaxOutput

public double getMaxOutput(ClosedLoopSlot slot)

getMaxIAccumulation

public double getMaxIAccumulation()

getMaxIAccumulation

public double getMaxIAccumulation(ClosedLoopSlot slot)

getAllowedClosedLoopError

public double getAllowedClosedLoopError(ClosedLoopSlot slot)

getPositionWrappingEnabled

public boolean getPositionWrappingEnabled()

getPositionWrappingMinInput

public double getPositionWrappingMinInput()

getPositionWrappingMaxInput

public double getPositionWrappingMaxInput()

getFeedbackSensor

public FeedbackSensor getFeedbackSensor()