BaseMotorControllerConfiguration
- class phoenix5.BaseMotorControllerConfiguration
Bases:
CustomParamConfigurationConfigurables available to base motor controllers
- property auxPIDPolarity
PID polarity inversion
Standard Polarity: Primary Output = PID0 + PID1, Auxiliary Output = PID0 - PID1,
Inverted Polarity: Primary Output = PID0 - PID1, Auxiliary Output = PID0 + PID1,
- property clearPositionOnLimitF
Clear the position on forward limit
- property clearPositionOnLimitR
Clear the position on reverse limit
- property clearPositionOnQuadIdx
Clear the position on index
- property closedloopRamp
Seconds to go from 0 to full in closed loop
- property feedbackNotContinuous
Determine whether feedback sensor is continuous or not
- property forwardSoftLimitEnable
Enable forward soft limit
- property forwardSoftLimitThreshold
Threshold for soft limits in forward direction (in raw sensor units)
- property limitSwitchDisableNeutralOnLOS
Disable neutral’ing the motor when remote limit switch is lost on CAN bus
- property motionAcceleration
Motion Magic acceleration in (raw sensor units per 100 ms) per second.
- property motionCruiseVelocity
Motion Magic cruise velocity in raw sensor units per 100 ms.
- property motionCurveStrength
Zero to use trapezoidal motion during motion magic. [1,8] for S-Curve, higher value for greater smoothing.
- property motionProfileTrajectoryPeriod
Motion profile base trajectory period in milliseconds.
The period specified in a trajectory point will be added on to this value
- property neutralDeadband
Neutral deadband [0.001, 0.25]
- property nominalOutputForward
Nominal/Minimum output in forward direction [0,1]
- property nominalOutputReverse
Nominal/Minimum output in reverse direction [-1,0]
- property openloopRamp
Seconds to go from 0 to full in open loop
- property peakOutputForward
Peak output in forward direction [0,1]
- property peakOutputReverse
Peak output in reverse direction [-1,0]
- property pulseWidthPeriod_EdgesPerRot
Number of edges per rotation for a tachometer sensor
- property pulseWidthPeriod_FilterWindowSz
Desired window size for a tachometer sensor
- property remoteFilter0
Configuration for RemoteFilter 0
- property remoteFilter1
Configuration for RemoteFilter 1
- property remoteSensorClosedLoopDisableNeutralOnLOS
Disable neutral’ing the motor when remote sensor is lost on CAN bus
- property reverseSoftLimitEnable
Enable reverse soft limit
- property reverseSoftLimitThreshold
Threshold for soft limits in reverse direction (in raw sensor units)
- property slot0
Configuration for slot 0
- property slot1
Configuration for slot 1
- property slot2
Configuration for slot 2
- property slot3
Configuration for slot 3
- property softLimitDisableNeutralOnLOS
Disable neutral’ing the motor when remote soft limit is lost on CAN bus
- toString(prependString: str) str
- Parameters:
prependString – String to prepend to configs
- Returns:
String representation of configs
- property trajectoryInterpolationEnable
Enable motion profile trajectory point interpolation (defaults to true).
- property velocityMeasurementPeriod
Desired period for velocity measurement
- property velocityMeasurementWindow
Desired window for velocity measurement
- property voltageCompSaturation
This is the max voltage to apply to the hbridge when voltage compensation is enabled. For example, if 10 (volts) is specified and a TalonSRX is commanded to 0.5 (PercentOutput, closed-loop, etc) then the TalonSRX will attempt to apply a duty-cycle to produce 5V.
- property voltageMeasurementFilter
Number of samples in rolling average for voltage