Package com.ctre.phoenix6.controls

Class PositionTorqueCurrentFOC

java.lang.Object
com.ctre.phoenix6.controls.ControlRequest
com.ctre.phoenix6.controls.PositionTorqueCurrentFOC
public class PositionTorqueCurrentFOC
extends ControlRequest
This feature requires Phoenix Pro.

Request PID to target position with torque current feedforward.

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

  • Field Details

    • Position

      public double Position
      Position to drive toward in rotations.

    • FeedForward

      public double FeedForward
      Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.

    • Slot

      public int Slot
      Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].

    • OverrideCoastDurNeutral

      public boolean OverrideCoastDurNeutral
      Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).

    • UpdateFreqHz

      public double UpdateFreqHz
      The period at which this control will update at. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

      If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

    • configTimeout

      public double configTimeout
      The timeout when sending configs associated with this control

  • Constructor Details

    • PositionTorqueCurrentFOC

      public PositionTorqueCurrentFOC​(double Position, double FeedForward, int Slot, boolean OverrideCoastDurNeutral)
      This feature requires Phoenix Pro.

      Request PID to target position with torque current feedforward.

      This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

      Parameters:
      Position - Position to drive toward in rotations.
      FeedForward - Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
      Slot - Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
      OverrideCoastDurNeutral - Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).

    • PositionTorqueCurrentFOC

      public PositionTorqueCurrentFOC​(double Position)
      This feature requires Phoenix Pro.

      Request PID to target position with torque current feedforward.

      This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

      Parameters:
      Position - Position to drive toward in rotations.

  • Method Details

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • sendRequest

      public StatusCode sendRequest​(String network, int deviceHash, boolean cancelOtherRequests)
      Specified by:
      sendRequest in class ControlRequest

    • withPosition

      public PositionTorqueCurrentFOC withPosition​(double newPosition)
      Modifies this Control Request's Position parameter and returns itself for method-chaining and easier to use request API.
      Parameters:
      newPosition - Parameter to modify
      Returns:
      Itself

    • withFeedForward

      public PositionTorqueCurrentFOC withFeedForward​(double newFeedForward)
      Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.
      Parameters:
      newFeedForward - Parameter to modify
      Returns:
      Itself

    • withSlot

      public PositionTorqueCurrentFOC withSlot​(int newSlot)
      Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API.
      Parameters:
      newSlot - Parameter to modify
      Returns:
      Itself

    • withOverrideCoastDurNeutral

      public PositionTorqueCurrentFOC withOverrideCoastDurNeutral​(boolean newOverrideCoastDurNeutral)
      Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chaining and easier to use request API.
      Parameters:
      newOverrideCoastDurNeutral - Parameter to modify
      Returns:
      Itself

    • withUpdateFreqHz

      public PositionTorqueCurrentFOC withUpdateFreqHz​(double newUpdateFreqHz)
      Sets the period at which this control will update at. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

      If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

      Parameters:
      newUpdateFreqHz - Parameter to modify
      Returns:
      Itself

    • forceApplyConfigs

      public void forceApplyConfigs()
      Forces configs to be applied the next time this is used in a setControl.

      This is not necessary in the majority of cases, because Phoenix will make sure configs are properly set when they are not already set