Created
November 20, 2018 02:55
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CTRE Talon SRX default config
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{ | |
"_base": { | |
"custom_param": [ | |
0, | |
0 | |
], | |
"open_loop_ramp": 0, | |
"closed_loop_ramp": 0, | |
"peak_output_forward": 1, | |
"peak_output_reverse": -1, | |
"nominal_output_forward": 0, | |
"nominal_output_reverse": 0, | |
"neutral_deadband": 0.04, | |
"voltage_comp_saturation": 0, | |
"voltage_measurement_filter": 32, | |
"velocity_measurement_period": 100, | |
"velocity_measurement_window": 64, | |
"forward_limit_switch_device_id": 0, | |
"reverse_limit_switch_device_id": 0, | |
"forward_limit_switch_normal": "NormallyOpen", | |
"reverse_limit_switch_normal": "NormallyOpen", | |
"forward_soft_limit_threshold": 0, | |
"reverse_soft_limit_threshold": 0, | |
"forward_soft_limit_enable": false, | |
"reverse_soft_limit_enable": false, | |
"slot_0": { | |
"kp": 0, | |
"ki": 0, | |
"kd": 0, | |
"kf": 0, | |
"integral_zone": 0, | |
"allowable_closed_loop_error": 0, | |
"max_integral_accumulator": 0, | |
"closed_loop_peak_output": 1, | |
"closed_loop_period": 1 | |
}, | |
"slot_1": { | |
"kp": 0, | |
"ki": 0, | |
"kd": 0, | |
"kf": 0, | |
"integral_zone": 0, | |
"allowable_closed_loop_error": 0, | |
"max_integral_accumulator": 0, | |
"closed_loop_peak_output": 1, | |
"closed_loop_period": 1 | |
}, | |
"slot_2": { | |
"kp": 0, | |
"ki": 0, | |
"kd": 0, | |
"kf": 0, | |
"integral_zone": 0, | |
"allowable_closed_loop_error": 0, | |
"max_integral_accumulator": 0, | |
"closed_loop_peak_output": 1, | |
"closed_loop_period": 1 | |
}, | |
"slot_3": { | |
"kp": 0, | |
"ki": 0, | |
"kd": 0, | |
"kf": 0, | |
"integral_zone": 0, | |
"allowable_closed_loop_error": 0, | |
"max_integral_accumulator": 0, | |
"closed_loop_peak_output": 1, | |
"closed_loop_period": 1 | |
}, | |
"aux_pid_polarity": "Standard", | |
"filter_0": { | |
"remote_sensor_device_id": 0, | |
"remote_sensor_source": "Off" | |
}, | |
"filter_1": { | |
"remote_sensor_device_id": 0, | |
"remote_sensor_source": "Off" | |
}, | |
"motion_cruise_velocity": 0, | |
"motion_acceleration": 0, | |
"motion_profile_trajectory_period": 0, | |
"feedback_not_continuous": false, | |
"remote_sensor_closed_loop_disable_neutral_on_los": false, | |
"clear_position_on_limit_f": false, | |
"clear_position_on_limit_r": false, | |
"clear_position_on_quad_idx": false, | |
"limit_switch_disable_neutral_on_los": false, | |
"soft_limit_disable_neutral_on_los": false, | |
"pulse_width_period_edges_per_rot": 1, | |
"pulse_width_period_filter_window_sz": 1 | |
}, | |
"primary_pid": { | |
"_base": { | |
"selected_feedback_coefficient": 1 | |
}, | |
"selected_feedback_sensor": "QuadEncoder" | |
}, | |
"auxilary_pid": { | |
"_base": { | |
"selected_feedback_coefficient": 1 | |
}, | |
"selected_feedback_sensor": "QuadEncoder" | |
}, | |
"forward_limit_switch_source": "FeedbackConnector", | |
"reverse_limit_switch_source": "FeedbackConnector", | |
"sum_0": "QuadEncoder", | |
"sum_1": "QuadEncoder", | |
"diff_0": "QuadEncoder", | |
"diff_1": "QuadEncoder", | |
"peak_current_limit": 1, | |
"peak_current_duration": 1, | |
"continuous_current_limit": 1 | |
} |
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