Enum Class SmartMotorControllerTelemetry.DoubleTelemetryField

java.lang.Object

java.lang.Enum<SmartMotorControllerTelemetry.DoubleTelemetryField>

yams.core.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField

All Implemented Interfaces:

Serializable, Comparable<SmartMotorControllerTelemetry.DoubleTelemetryField>, Constable

Enclosing class:

SmartMotorControllerTelemetry

public static enum SmartMotorControllerTelemetry.DoubleTelemetryField
extends Enum<SmartMotorControllerTelemetry.DoubleTelemetryField>

Double telemetry field.

Nested Class Summary

Nested classes/interfaces inherited from class Enum

Enum.EnumDesc<E>

Enum Constant Summary

Enum Constants

Enum Constant	Description
ActiveClosedLoopControllerSlot	Active closed loop controller slot.
ClosedLoopPeriod	Period the closed loop controller runs at: 1 ms on the motor controller, or the closed loop control period on the SystemCore.
ClosedloopRampRate	Closed loop dutycyle ramp rate.
ExponentialProfileKA	Exponential profile kA
ExponentialProfileKV	Exponential profile kV
ExponentialProfileMaxInput	Exponential profile maxInput
ExternalEncoderPosition	External encoder's mechanism position in rotations, published only when an external encoder is defined.
ExternalEncoderVelocity	External encoder's mechanism velocity in rotations per second, published only when an external encoder is defined.
kA	kA
kD	kD
kG	kG
kI	kI
kP	kP
kS	kS
kV	kV
MeasurementAcceleration	Measurement acceleration.
MeasurementLowerLimit	Measurement lower limit.
MeasurementPosition	Measurement position
MeasurementUpperLimit	Measurement upper limit.
MeasurementVelocity	Measurement velocity.
MechanismAcceleration	Mechanism acceleration in rotations per second per second.
MechanismLowerLimit	Mechanism lower limit in rotations.
MechanismPosition	Mechanism position in rotations.
MechanismUpperLimit	Mechanism upper limit in rotations.
MechanismVelocity	Mechanism velocity in rotations per second.
MotorTemperature	Motor temperature
OpenloopRampRate	Open loop dutycycle ramp rate.
OutputVoltage	Voltage supplied to the motor.
RotorPosition	Rotor position in rotations.
RotorVelocity	Rotor velocity in rotations.
SetpointForce	Setpoint feedforward force, e.g.
SetpointPosition	Setpoint position
SetpointVelocity	Setpoint velocity
StatorCurrent	Stator current.
StatorCurrentLimit	Supply current limit.
SupplyCurrent	Supply current.
SupplyCurrentLimit	Supply current limit.
TrapezoidalProfileMaxAcceleration	Motion profile maximum accelerartion, could be in MPS^2 or RPM/s
TrapezoidalProfileMaxJerk	Trapezoidal profile maximum jerk, could be in MPS^3 or RPM/s^2
TrapezoidalProfileMaxVelocity	Motion profile maximum velocity, could be in MPS or RPM
TunableClosedLoopControllerSlot	Closed loop controller slot.
TunableSetpointPosition	Setpoint position
TunableSetpointVelocity	Setpoint velocity
TunableVoltage	Tunable voltage applied to the motor and its loosely coupled followers, without the closed loop controller, while SmartMotorControllerTelemetry.BooleanTelemetryField.TunableVoltageEnabled is on.
VelocityMeasurementDelay	How far behind the mechanism the measured velocity is, from how the motor controller filters it, when it is known.

Method Summary

Modifier and Type	Method	Description
DoubleTelemetry<SmartMotorControllerTelemetry.DoubleTelemetryField>	create()	Create double telemetry field.
static SmartMotorControllerTelemetry.DoubleTelemetryField	valueOf(String name)	Returns the enum constant of this class with the specified name.
static SmartMotorControllerTelemetry.DoubleTelemetryField[]	values()	Returns an array containing the constants of this enum class, in the order they are declared.

Methods inherited from class Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

ExponentialProfileKV

public static final SmartMotorControllerTelemetry.DoubleTelemetryField ExponentialProfileKV

Exponential profile kV

ExponentialProfileKA

public static final SmartMotorControllerTelemetry.DoubleTelemetryField ExponentialProfileKA

Exponential profile kA

ExponentialProfileMaxInput

public static final SmartMotorControllerTelemetry.DoubleTelemetryField ExponentialProfileMaxInput

Exponential profile maxInput

TrapezoidalProfileMaxVelocity

public static final SmartMotorControllerTelemetry.DoubleTelemetryField TrapezoidalProfileMaxVelocity

Motion profile maximum velocity, could be in MPS or RPM

TrapezoidalProfileMaxAcceleration

public static final SmartMotorControllerTelemetry.DoubleTelemetryField TrapezoidalProfileMaxAcceleration

Motion profile maximum accelerartion, could be in MPS^2 or RPM/s

TrapezoidalProfileMaxJerk

public static final SmartMotorControllerTelemetry.DoubleTelemetryField TrapezoidalProfileMaxJerk

Trapezoidal profile maximum jerk, could be in MPS^3 or RPM/s^2

TunableClosedLoopControllerSlot

public static final SmartMotorControllerTelemetry.DoubleTelemetryField TunableClosedLoopControllerSlot

Closed loop controller slot.

ActiveClosedLoopControllerSlot

public static final SmartMotorControllerTelemetry.DoubleTelemetryField ActiveClosedLoopControllerSlot

Active closed loop controller slot.

kS

public static final SmartMotorControllerTelemetry.DoubleTelemetryField kS

kS

kV

public static final SmartMotorControllerTelemetry.DoubleTelemetryField kV

kV

kA

public static final SmartMotorControllerTelemetry.DoubleTelemetryField kA

kA

kG

public static final SmartMotorControllerTelemetry.DoubleTelemetryField kG

kG

kP

public static final SmartMotorControllerTelemetry.DoubleTelemetryField kP

kP

kI

public static final SmartMotorControllerTelemetry.DoubleTelemetryField kI

kI

kD

public static final SmartMotorControllerTelemetry.DoubleTelemetryField kD

kD

TunableSetpointPosition

public static final SmartMotorControllerTelemetry.DoubleTelemetryField TunableSetpointPosition

Setpoint position

SetpointPosition

public static final SmartMotorControllerTelemetry.DoubleTelemetryField SetpointPosition

Setpoint position

TunableSetpointVelocity

public static final SmartMotorControllerTelemetry.DoubleTelemetryField TunableSetpointVelocity

Setpoint velocity

SetpointVelocity

public static final SmartMotorControllerTelemetry.DoubleTelemetryField SetpointVelocity

Setpoint velocity

SetpointForce

public static final SmartMotorControllerTelemetry.DoubleTelemetryField SetpointForce

Setpoint feedforward force, e.g. from a PathPlanner set-point generator.

ClosedLoopPeriod

public static final SmartMotorControllerTelemetry.DoubleTelemetryField ClosedLoopPeriod

Period the closed loop controller runs at: 1 ms on the motor controller, or the closed loop control period on the SystemCore.

VelocityMeasurementDelay

public static final SmartMotorControllerTelemetry.DoubleTelemetryField VelocityMeasurementDelay

How far behind the mechanism the measured velocity is, from how the motor controller filters it, when it is known.

TunableVoltage

public static final SmartMotorControllerTelemetry.DoubleTelemetryField TunableVoltage

Tunable voltage applied to the motor and its loosely coupled followers, without the closed loop controller, while SmartMotorControllerTelemetry.BooleanTelemetryField.TunableVoltageEnabled is on.

OutputVoltage

public static final SmartMotorControllerTelemetry.DoubleTelemetryField OutputVoltage

Voltage supplied to the motor.

StatorCurrent

public static final SmartMotorControllerTelemetry.DoubleTelemetryField StatorCurrent

Stator current.

StatorCurrentLimit

public static final SmartMotorControllerTelemetry.DoubleTelemetryField StatorCurrentLimit

Supply current limit.

SupplyCurrent

public static final SmartMotorControllerTelemetry.DoubleTelemetryField SupplyCurrent

Supply current.

SupplyCurrentLimit

public static final SmartMotorControllerTelemetry.DoubleTelemetryField SupplyCurrentLimit

Supply current limit.

MotorTemperature

public static final SmartMotorControllerTelemetry.DoubleTelemetryField MotorTemperature

Motor temperature

MeasurementPosition

public static final SmartMotorControllerTelemetry.DoubleTelemetryField MeasurementPosition

Measurement position

MeasurementVelocity

public static final SmartMotorControllerTelemetry.DoubleTelemetryField MeasurementVelocity

Measurement velocity.

MeasurementAcceleration

public static final SmartMotorControllerTelemetry.DoubleTelemetryField MeasurementAcceleration

Measurement acceleration.

MeasurementLowerLimit

public static final SmartMotorControllerTelemetry.DoubleTelemetryField MeasurementLowerLimit

Measurement lower limit.

MeasurementUpperLimit

public static final SmartMotorControllerTelemetry.DoubleTelemetryField MeasurementUpperLimit

Measurement upper limit.

MechanismPosition

public static final SmartMotorControllerTelemetry.DoubleTelemetryField MechanismPosition

Mechanism position in rotations.

MechanismVelocity

public static final SmartMotorControllerTelemetry.DoubleTelemetryField MechanismVelocity

Mechanism velocity in rotations per second.

MechanismAcceleration

public static final SmartMotorControllerTelemetry.DoubleTelemetryField MechanismAcceleration

Mechanism acceleration in rotations per second per second.

MechanismLowerLimit

public static final SmartMotorControllerTelemetry.DoubleTelemetryField MechanismLowerLimit

Mechanism lower limit in rotations.

MechanismUpperLimit

public static final SmartMotorControllerTelemetry.DoubleTelemetryField MechanismUpperLimit

Mechanism upper limit in rotations.

RotorPosition

public static final SmartMotorControllerTelemetry.DoubleTelemetryField RotorPosition

Rotor position in rotations.

RotorVelocity

public static final SmartMotorControllerTelemetry.DoubleTelemetryField RotorVelocity

Rotor velocity in rotations.

ExternalEncoderPosition

public static final SmartMotorControllerTelemetry.DoubleTelemetryField ExternalEncoderPosition

External encoder's mechanism position in rotations, published only when an external encoder is defined.

ExternalEncoderVelocity

public static final SmartMotorControllerTelemetry.DoubleTelemetryField ExternalEncoderVelocity

External encoder's mechanism velocity in rotations per second, published only when an external encoder is defined.

ClosedloopRampRate

public static final SmartMotorControllerTelemetry.DoubleTelemetryField ClosedloopRampRate

Closed loop dutycyle ramp rate.

OpenloopRampRate

public static final SmartMotorControllerTelemetry.DoubleTelemetryField OpenloopRampRate

Open loop dutycycle ramp rate.

Method Details

values

public static SmartMotorControllerTelemetry.DoubleTelemetryField[] values()

Returns an array containing the constants of this enum class, in the order they are declared.

Returns:

an array containing the constants of this enum class, in the order they are declared

valueOf

public static SmartMotorControllerTelemetry.DoubleTelemetryField valueOf(String name)

Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum class has no constant with the specified name

NullPointerException - if the argument is null

create

public DoubleTelemetry<SmartMotorControllerTelemetry.DoubleTelemetryField> create()

Create double telemetry field.

Returns:

Double telemetry field.