Configuration

Understand compatibility current fields and coast behavior, check configuration results, and save supported settings.

Java 0.33.0 / firmware 2.6.6: zero duty coasts; brake is unsupported. Stator and supply current-limit settings are inactive compatibility fields and do not limit amperes. Supply current is observational; stator current is unavailable. The speed-based duty governor can reduce applied output.

Compatibility current fields

Java

CurrentLimitsConfigs limits = new CurrentLimitsConfigs()
    .withStatorCurrentLimit(30)
    .withSupplyCurrentLimit(20);
StatusCode result = motor.getConfigurator().apply(limits);
if (!result.isOK()) {
    System.err.println(result.describe());
}

Field	Unit	Accepted team range
StatorCurrentLimit	A	0.001–70
SupplyCurrentLimit	A	0.001–45

Unset fields are left alone. Do not set unsupported fields merely because a class contains them. In particular, the configurable lower supply-current limit and lower-time fields are refused by this library.

Team settings from Java

Use Java 0.33.0 with firmware 2.6.6. Current settings below are inactive compatibility fields; older firmware implemented different behavior. setSetting(name, value) uses the units in this table and checks the controller's supported range and write readback. getSetting(name) returns the confirmed value, or NaN if it cannot read it. Factory calibration and gate-driver settings stay locked.

Setting name	Units	Accepted range	After restart
climit / supply	A	0.001 to 70 / 0.001 to 45	Save
uvlo / uvhi	V	6 to 20 / 6 to 24; choose low below high	Save
twarn / ttrip	°C	40 to 80; warning must not exceed trip	Save
foldstart / folden	°C / 0 or 1	40 to 80 / off or on	Save
dutymax	Duty fraction	0.001 to 1	Save
idle_brake	0 or 1	Coast only; brake unavailable	Resets
vel_kp	Duty per rad/s	0.00005 to 0.01	Save
vel_ki	Duty per accumulated rad	0.0002 to 0.05	Save
vel_d_gain	Duty per rad/s²	0 to 0.001	Save
pos_kp	1/s	0 to 500; zero prevents position entry	Save
pos_i_gain	1/s²	0 to 500; step 0.001	Save
pos_d_gain	Dimensionless	0 to 10; step 0.00001	Save
vel_slew	rad/s²	200 to 60000	Save
pos_amax	rad/s²	1 to 20000	Resets
pos_vmax	rad/s	1 to 800	Resets
pos_prof	0 or 1	Position profile off / on	Resets

Save means call saveConfigurationConfirmed() after applying and checking settings. Firmware 2.6.6 remains coast-only regardless of a saved neutral setting. Apply configuration while stopped, outside periodic motion code: acknowledged requests can wait for a reply. A multi-field apply is sequential; if a later write fails, earlier accepted writes may already be in effect.

Java

// Example thermal setup; choose settings for the mechanism.
StatusCode result = motor.getConfigurator().setSetting("ttrip", 75);
if (!result.isOK()) {
    System.err.println(result.describe());
} else {
    double tripC = motor.getConfigurator().getSetting("ttrip");
    System.out.println("Trip temperature: " + tripC);
    StatusCode saved = motor.saveConfigurationConfirmed();
    if (!saved.isOK()) System.err.println(saved.describe());
}

setDeviceName(name) accepts 1 to 8 printable ASCII characters without commas and confirms readback; save afterward to retain it. getDeviceName() returns null if unavailable. Set a unique CAN ID in SWYFT Link before constructing the Java motor object with that ID.

What survives a restart?

Setting	Persistence / action
Current limits	Apply the limits and check the result. After saving and restarting, check the values reported by the motor rather than assuming they were restored.
Velocity gains	Apply `Slot0Configs` and check the result; confirmed Save retains the gain fields.
Coast / Brake neutral mode	Resets when the motor restarts. Set it again at startup; Save does not keep this setting.
Mechanism ratio and wrap	Stored in your robot program, not on the motor. Set it again when the program starts.
Software limits	The public configurator refuses them. Implement mechanism travel limits and homing in your robot code.

Java

// Call after intentionally configuring a stopped controller.
// Do not write flash from a periodic control loop.
StatusCode saved = motor.saveConfigurationConfirmed();
if (!saved.isOK()) System.err.println(saved.describe());

Choose neutral behavior

Neutral behavior determines what happens when the controller applies no driving output. Coast lets the shaft turn freely. Product firmware 2.6.6 supports only coast. Selecting BRAKE throws before transmission.

Java

StatusCode result = motor.setNeutralMode(SwyftCyclone.NeutralMode.COAST);
if (!result.isOK()) System.err.println(result.describe());

Handling a configuration failure

Range errors, unsupported fields and setting changes attempted while the motor is enabled are different problems. Print StatusCode.describe(), stop the motor when requested, and retry only the intended setting. Read back or inspect the live result before relying on it.