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

#include <control_loops.h>

Static Public Attributes
static constexpr double	kP = 11.0
static constexpr double	kI = 0.0
static constexpr double	kD = 0.33
static constexpr double	kS = 0.0
static constexpr double	kV = 0.15
static constexpr double	kA = 0.0
static constexpr double	kG = 0.5
static constexpr int	gravityType = ctre::phoenix6::signals::GravityTypeValue::Elevator_Static
static constexpr auto	motionMagic_cruiseVelocity = units::angular_velocity::turns_per_second_t{35.0}
static constexpr auto	motionMagic_acceleration = units::angular_acceleration::turns_per_second_squared_t{15.0}
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{0.13}

Member Data Documentation

gravityType

int controlLoop::comp_bot::elevator::elevator::gravityType = ctre::phoenix6::signals::GravityTypeValue::Elevator_Static

staticconstexpr

kA

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

staticconstexpr

kD

double controlLoop::comp_bot::elevator::elevator::kD = 0.33

staticconstexpr

kG

double controlLoop::comp_bot::elevator::elevator::kG = 0.5

staticconstexpr

kI

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

staticconstexpr

kP

double controlLoop::comp_bot::elevator::elevator::kP = 11.0

staticconstexpr

kS

double controlLoop::comp_bot::elevator::elevator::kS = 0.0

staticconstexpr

kV

double controlLoop::comp_bot::elevator::elevator::kV = 0.15

staticconstexpr

motionMagic_acceleration

auto controlLoop::comp_bot::elevator::elevator::motionMagic_acceleration = units::angular_acceleration::turns_per_second_squared_t{15.0}

staticconstexpr

motionMagic_cruiseVelocity

auto controlLoop::comp_bot::elevator::elevator::motionMagic_cruiseVelocity = units::angular_velocity::turns_per_second_t{35.0}

staticconstexpr

motionMagic_expo_kA

auto controlLoop::comp_bot::elevator::elevator::motionMagic_expo_kA = ctre::unit::volts_per_turn_per_second_squared_t{0.13}

staticconstexpr

motionMagic_expo_kV

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

staticconstexpr

motionMagic_jerk

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

staticconstexpr

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

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