elevator_config.json

{
  "Configs": [
    {
      "Name": "Motor Output",
      "Type": "MotorOutputGroup",
      "Description": "Group of all configs relating to motor output",
      "Ordinal": 0,
      "Values": {
        "Neutral Deadband": 0.0400782,
        "Neutral Mode": 1,
        "Nominal Forward Output": 0.0,
        "Nominal Reverse Output": 0.0,
        "Open Loop Ramp": 0.0,
        "Peak Forward Output": 1.0,
        "Peak Reverse Output": -1.0
      }
    },
    {
      "Name": "Current Limit - Supply",
      "Type": "SupplyCurrentLimitGroup",
      "Description": "Group of all configs relating to current limit",
      "Ordinal": 0,
      "Values": {
        "Current Limit": 1.0,
        "Enable": false,
        "Trigger Threshold Current": 1.0,
        "Trigger Threshold Time": 0.001
      }
    },
    {
      "Name": "Current Limit - Stator",
      "Type": "StatorCurrentLimitGroup",
      "Description": "Group of all configs relating to current limit",
      "Ordinal": 0,
      "Values": {
        "Current Limit": 1.0,
        "Enable": false,
        "Trigger Threshold Current": 1.0,
        "Trigger Threshold Time": 0.001
      }
    },
    {
      "Name": "Voltage Comp",
      "Type": "VoltageCompGroup",
      "Description": "Group of all configs relating to current limit",
      "Ordinal": 0,
      "Values": {
        "Voltage Compensation Saturation": 0.0
      }
    },
    {
      "Name": "Hardware Limit Switches",
      "Type": "HardLimitSwitchGroup",
      "Description": "Group of all configs relating to hardware limit switches",
      "Ordinal": 0,
      "Values": {
        "Limit Forward": 0,
        "Limit Forward Device ID": 0,
        "Limit Forward Source": 0,
        "Limit Reverse": 0,
        "Limit Reverse Device ID": 0,
        "Limit Reverse Source": 0
      }
    },
    {
      "Name": "Software Limit Switches",
      "Type": "SoftLimitSwitchGroup",
      "Description": "Group of all configs relating to software limit switches",
      "Ordinal": 0,
      "Values": {
        "Forward Soft Limit Enable": false,
        "Reverse Soft Limit Enable": false,
        "Soft Limit Forward Value": 0.0,
        "Soft Limit Reverse Value": 0.0
      }
    },
    {
      "Name": "Motion Magic",
      "Type": "MotionMagicGroup",
      "Description": "Group of all configs relating to PID 1",
      "Ordinal": 0,
      "Values": {
        "Acceleration": 1000.0,
        "Cruise Velocity": 3800.0,
        "Curve Strength": 4
      }
    },
    {
      "Name": "Motion Profile",
      "Type": "MotionProfileGroup",
      "Description": "Group of all configs relating to software limit switches",
      "Ordinal": 0,
      "Values": {
        "Base Trajectory Period Ms": 0,
        "Trajectory Interpolation Enable": true
      }
    },
    {
      "Name": "Closed Loop",
      "Type": "ClosedLoopGroup",
      "Description": "Group of all configs relating to slot 0",
      "Ordinal": 0,
      "Values": {
        "Closed Loop Ramp": 0.0,
        "PID 0 Primary Feedback Sensor": 1,
        "PID 0 Primary Sensor Coefficient": 1.0,
        "PID 1 Aux Feedback Sensor": 1,
        "PID 1 Aux Sensor Coefficient": 1.0,
        "PID 1 Polarity": false
      }
    },
    {
      "Name": "Slot 0",
      "Type": "SlotGroup",
      "Description": "Group of all configs relating to slot 0",
      "Ordinal": 0,
      "Values": {
        "Allowable Error": 0.0,
        "I Zone": 0.0,
        "Loop Period Ms": 1,
        "Max Integral Accum": 0.0,
        "Peak Output": 1.0,
        "kD": 0.0,
        "kF": 0.0,
        "kI": 0.0,
        "kP": 0.099999904632568359
      }
    },
    {
      "Name": "Slot 1",
      "Type": "SlotGroup",
      "Description": "Group of all configs relating to slot 1",
      "Ordinal": 1,
      "Values": {
        "Allowable Error": 0.0,
        "I Zone": 0.0,
        "Loop Period Ms": 1,
        "Max Integral Accum": 0.0,
        "Peak Output": 1.0,
        "kD": 0.0,
        "kF": 0.0,
        "kI": 0.0,
        "kP": 0.0
      }
    },
    {
      "Name": "Slot 2",
      "Type": "SlotGroup",
      "Description": "Group of all configs relating to slot 2",
      "Ordinal": 2,
      "Values": {
        "Allowable Error": 0.0,
        "I Zone": 0.0,
        "Loop Period Ms": 1,
        "Max Integral Accum": 0.0,
        "Peak Output": 1.0,
        "kD": 0.0,
        "kF": 0.0,
        "kI": 0.0,
        "kP": 0.0
      }
    },
    {
      "Name": "Slot 3",
      "Type": "SlotGroup",
      "Description": "Group of all configs relating to slot 3",
      "Ordinal": 3,
      "Values": {
        "Allowable Error": 0.0,
        "I Zone": 0.0,
        "Loop Period Ms": 1,
        "Max Integral Accum": 0.0,
        "Peak Output": 1.0,
        "kD": 0.0,
        "kF": 0.0,
        "kI": 0.0,
        "kP": 0.0
      }
    },
    {
      "Name": "Remote Sensor",
      "Type": "RemoteSensorGroup",
      "Description": "Remote Filters",
      "Ordinal": 0,
      "Values": {
        "Diff Term 0": 1,
        "Diff Term 1": 1,
        "Filter 0 Device ID": 0,
        "Filter 0 Source": 0,
        "Filter 1 Device ID": 0,
        "Filter 1 Source": 0,
        "Neutral If Missing Remote Limit Switch": true,
        "Neutral If Missing Remote Sensor Dur Closed Loop": true,
        "Neutral If Missing Remote Soft Limit": true,
        "Sum Term 0": 1,
        "Sum Term 1": 1
      }
    },
    {
      "Name": "Home Sensor",
      "Type": "HomeSensorGroup",
      "Description": "Group of all configs relating to software limit switches",
      "Ordinal": 0,
      "Values": {
        "Clear Pos On Forward Limit": false,
        "Clear Pos On Reverse Limit": false
      }
    },
    {
      "Name": "Advanced Sensor and Meas",
      "Type": "AdvancedSensorMeas",
      "Description": "Group of configs relating to advanced sensor features and filters",
      "Ordinal": 0,
      "Values": {
        "Feedback Not Continuous": false,
        "Pulse Width Edges Per Rotation": 0,
        "Pulse Width Filter Window": 0,
        "Velocity Period": 100,
        "Velocity Window": 64,
        "Voltage Meas Filter": 32
      }
    },
    {
      "Name": "Custom Params",
      "Type": "CustomParams",
      "Description": "These are arbitrary values not used by the firmware.",
      "Ordinal": 0,
      "Values": {
        "Custom Param 0": 0,
        "Custom Param 1": 0
      }
    },
    {
      "Name": "Integrated Sensor",
      "Type": "IntegratedSensor",
      "Description": "Configures how the integrated sensor is processed.",
      "Ordinal": 0,
      "Values": {
        "Absolute Sensor Range": 0,
        "Sensor Initialization Strategy": 0,
        "Sensor Offset (deg)": 0.0
      }
    }
  ]
}