SlotConfiguration

class phoenix5.SlotConfiguration

Bases: pybind11_object

Configurables available to a slot

property allowableClosedloopError

Allowable closed loop error to neutral (in native units)

property closedLoopPeakOutput

Peak output from closed loop [0,1]

property closedLoopPeriod

Desired period of closed loop [1,64]ms

property 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.

property 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)

property 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).

property 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].

property 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)

property maxIntegralAccumulator

Max integral accumulator (in native units)

toString(prependString: str) → str

Parameters:

prependString – String to prepend to configs

Returns:

String representation of configs