Package com.ctre.phoenix6.signals

Enum Class GainSchedKpBehaviorValue

java.lang.Object

java.lang.Enum<GainSchedKpBehaviorValue>

com.ctre.phoenix6.signals.GainSchedKpBehaviorValue

All Implemented Interfaces:

Serializable, Comparable<GainSchedKpBehaviorValue>, Constable

public enum GainSchedKpBehaviorValue
extends Enum<GainSchedKpBehaviorValue>

The behavior of kP output as the error crosses the GainSchedErrorThreshold during gain scheduling. The output of kP can be adjusted to maintain continuity in output, or it can be left discontinuous.

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Enum

Enum.EnumDesc<E extends Enum<E>>

Enum Constant Summary

Enum Constants

Enum Constant	Description
Continuous	The gain scheduler will maintain continuity in the kP output as the error crosses the gain threshold.
Discontinuous	The gain scheduler will allow for a discontinuity in the kP output.

Field Summary

Fields

Modifier and Type	Field	Description
final int	value

Method Summary

Modifier and Type	Method	Description
static GainSchedKpBehaviorValue	valueOf(int value)	Gets GainSchedKpBehaviorValue from specified value
static GainSchedKpBehaviorValue	valueOf(String name)	Returns the enum constant of this class with the specified name.
static GainSchedKpBehaviorValue[]	values()	Returns an array containing the constants of this enum class, in the order they are declared.

Methods inherited from class java.lang.Enum

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

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

Continuous

public static final GainSchedKpBehaviorValue Continuous

The gain scheduler will maintain continuity in the kP output as the error crosses the gain threshold. This results in the best system stability, but it may result in output that does not match pOut = kP * error.

Discontinuous

public static final GainSchedKpBehaviorValue Discontinuous

The gain scheduler will allow for a discontinuity in the kP output. This ensures that pOut = kP * error, but it may result in instability as the system's error crosses the gain threshold.

Field Details

value

public final int value

Method Details

values

public static GainSchedKpBehaviorValue[] 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 GainSchedKpBehaviorValue 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

valueOf

public static GainSchedKpBehaviorValue valueOf(int value)

Gets GainSchedKpBehaviorValue from specified value

Parameters:

value - Value of GainSchedKpBehaviorValue

Returns:

GainSchedKpBehaviorValue of specified value