controlLoop::comp_bot::elevator::arm Struct Reference

#include <control_loops.h>

Static Public Attributes
static constexpr double	kP = 60.0
static constexpr double	kI = 0.0
static constexpr double	kD = 0.3
static constexpr double	kS = 0.5
static constexpr double	kV = 9.5
static constexpr double	kA = 0.0
static constexpr double	kG = 0.0
static constexpr int	gravityType = ctre::phoenix6::signals::GravityTypeValue::Arm_Cosine
static constexpr auto	motionMagic_cruiseVelocity = units::angular_velocity::turns_per_second_t{0}
static constexpr auto	motionMagic_acceleration = units::angular_acceleration::turns_per_second_squared_t{0}
static constexpr auto	motionMagic_jerk = units::angular_jerk::turns_per_second_cubed_t{0.0}
static constexpr auto	motionMagic_expo_kV = ctre::unit::volts_per_turn_per_second_t{0.1}
static constexpr auto	motionMagic_expo_kA = ctre::unit::volts_per_turn_per_second_squared_t{5}

Member Data Documentation

gravityType

int controlLoop::comp_bot::elevator::arm::gravityType = ctre::phoenix6::signals::GravityTypeValue::Arm_Cosine

staticconstexpr

kA

double controlLoop::comp_bot::elevator::arm::kA = 0.0

staticconstexpr

kD

double controlLoop::comp_bot::elevator::arm::kD = 0.3

staticconstexpr

kG

double controlLoop::comp_bot::elevator::arm::kG = 0.0

staticconstexpr

kI

double controlLoop::comp_bot::elevator::arm::kI = 0.0

staticconstexpr

kP

double controlLoop::comp_bot::elevator::arm::kP = 60.0

staticconstexpr

kS

double controlLoop::comp_bot::elevator::arm::kS = 0.5

staticconstexpr

kV

double controlLoop::comp_bot::elevator::arm::kV = 9.5

staticconstexpr

motionMagic_acceleration

auto controlLoop::comp_bot::elevator::arm::motionMagic_acceleration = units::angular_acceleration::turns_per_second_squared_t{0}

staticconstexpr

motionMagic_cruiseVelocity

auto controlLoop::comp_bot::elevator::arm::motionMagic_cruiseVelocity = units::angular_velocity::turns_per_second_t{0}

staticconstexpr

motionMagic_expo_kA

auto controlLoop::comp_bot::elevator::arm::motionMagic_expo_kA = ctre::unit::volts_per_turn_per_second_squared_t{5}

staticconstexpr

motionMagic_expo_kV

auto controlLoop::comp_bot::elevator::arm::motionMagic_expo_kV = ctre::unit::volts_per_turn_per_second_t{0.1}

staticconstexpr

motionMagic_jerk

auto controlLoop::comp_bot::elevator::arm::motionMagic_jerk = units::angular_jerk::turns_per_second_cubed_t{0.0}

staticconstexpr

---

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

• src/main/include/constants/control_loops.h