Package edu.wpi.first.wpilibj2.command.sysid

Class SysIdRoutine.Config

java.lang.Object

edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Config

Enclosing class:

SysIdRoutine

public static class SysIdRoutine.Config
extends Object

Hardware-independent configuration for a SysId test routine.

Field Summary

Fields

Modifier and Type	Field	Description
final Velocity<VoltageUnit>	m_rampRate	The voltage ramp rate used for quasistatic test routines.
final Consumer<SysIdRoutineLog.State>	m_recordState	Optional handle for recording test state in a third-party logging solution.
final Voltage	m_stepVoltage	The step voltage output used for dynamic test routines.
final Time	m_timeout	Safety timeout for the test routine commands.

Constructor Summary

Constructors

Constructor	Description
Config()	Create a default configuration for a SysId test routine with all default settings.
Config(Velocity<VoltageUnit> rampRate, Voltage stepVoltage, Time timeout)	Create a new configuration for a SysId test routine.
Config(Velocity<VoltageUnit> rampRate, Voltage stepVoltage, Time timeout, Consumer<SysIdRoutineLog.State> recordState)	Create a new configuration for a SysId test routine.

Method Summary

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

m_rampRate

public final Velocity<VoltageUnit> m_rampRate

The voltage ramp rate used for quasistatic test routines.

m_stepVoltage

public final Voltage m_stepVoltage

The step voltage output used for dynamic test routines.

m_timeout

public final Time m_timeout

Safety timeout for the test routine commands.

m_recordState

public final Consumer<SysIdRoutineLog.State> m_recordState

Optional handle for recording test state in a third-party logging solution.

Constructor Details

Config

public Config(Velocity<VoltageUnit> rampRate,
 Voltage stepVoltage,
 Time timeout,
 Consumer<SysIdRoutineLog.State> recordState)

Create a new configuration for a SysId test routine.

Parameters:

rampRate - The voltage ramp rate used for quasistatic test routines. Defaults to 1 volt per second if left null.

stepVoltage - The step voltage output used for dynamic test routines. Defaults to 7 volts if left null.

timeout - Safety timeout for the test routine commands. Defaults to 10 seconds if left null.

recordState - Optional handle for recording test state in a third-party logging solution. If provided, the test routine state will be passed to this callback instead of logged in WPILog.

Config

public Config(Velocity<VoltageUnit> rampRate,
 Voltage stepVoltage,
 Time timeout)

Create a new configuration for a SysId test routine.

Parameters:

rampRate - The voltage ramp rate used for quasistatic test routines. Defaults to 1 volt per second if left null.

stepVoltage - The step voltage output used for dynamic test routines. Defaults to 7 volts if left null.

timeout - Safety timeout for the test routine commands. Defaults to 10 seconds if left null.

Config

public Config()

Create a default configuration for a SysId test routine with all default settings.

rampRate: 1 volt/sec

stepVoltage: 7 volts

timeout: 10 seconds