Add device specific config docs #14
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daltzctr
commented
Dec 21, 2022
source/docs/api-reference/api-usage/device-specific-configs/cancoder-configs.rst
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daltzctr
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Dec 21, 2022
source/docs/api-reference/api-usage/device-specific-configs/talonfx-configs.rst
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daltzctr
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Dec 21, 2022
source/docs/api-reference/api-usage/device-specific-configs/pigeon-configs.rst
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daltzctr
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Dec 21, 2022
source/docs/api-reference/api-usage/device-specific-configs/pigeon-configs.rst
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@bhall-ctre I think this is a large improvement over the previous config documentation and would like to get this in before kickoff ideally. |
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Could you bump a commit on this so I can view this from generated RTD? |
CoryNessCTR
reviewed
Jan 6, 2023
| Magnet Range | ||
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| The range for a rotation can be modified. This can be useful if the CANcoder is not directly placed on the output shaft. For example, if the gear ratio between the CANcoder and the output shaft is 8:1, then the output shaft rotates 8 times for 1 CANcoder magnet rotation. If a Magnet Range config of ``8`` is applied, then this will be reported as ``1`` rotation instead of ``8`` rotations. |
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I don't think the range should be included in this section, but for reference if/when we move these descriptions to examples, it should read:
This config changes how to view the absolute position. It is either as a range from [-0.5, 0.5) or a range from [0, 1). As an example, if the CANcoder is at -0.25 rotations, a range of Unsigned will report an absolute position of 0.75, while a range of Signed will report an absolute position of -0.25.
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