Package com.ctre.phoenix6.controls

Class VelocityVoltage

java.lang.Object
com.ctre.phoenix6.controls.ControlRequest
com.ctre.phoenix6.controls.VelocityVoltage
public class VelocityVoltage
extends ControlRequest
Request PID to target velocity with voltage feedforward.

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

  • Field Summary

    Fields 
    Modifier and Type Field Description
    double configTimeout
    The timeout when sending configs associated with this control
    boolean EnableFOC
    Set to true to use FOC commutation, which increases peak power by ~15%.
    double FeedForward
    Feedforward to apply in volts
    boolean OverrideBrakeDurNeutral
    Set to true to static-brake the rotor when output is zero (or within deadband).
    int Slot
    Select which gains are applied by selecting the slot.
    double UpdateFreqHz
    The period at which this control will update at.
    double Velocity
    Velocity to drive toward in rotations per second.

    Fields inherited from class com.ctre.phoenix6.controls.ControlRequest

    requestReference

  • Constructor Summary

    Constructors 
    Constructor Description
    VelocityVoltage​(double Velocity)
    Request PID to target velocity with voltage feedforward.
    VelocityVoltage​(double Velocity, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral)
    Request PID to target velocity with voltage feedforward.

  • Method Summary

    Modifier and Type Method Description
    void forceApplyConfigs()
    Forces configs to be applied the next time this is used in a setControl.
    StatusCode sendRequest​(String network, int deviceHash, boolean cancelOtherRequests)  
    String toString()  
    VelocityVoltage withEnableFOC​(boolean newEnableFOC)
    Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.
    VelocityVoltage withFeedForward​(double newFeedForward)
    Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.
    VelocityVoltage withOverrideBrakeDurNeutral​(boolean newOverrideBrakeDurNeutral)
    Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.
    VelocityVoltage withSlot​(int newSlot)
    Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API.
    VelocityVoltage withUpdateFreqHz​(double newUpdateFreqHz)
    Sets the period at which this control will update at.
    VelocityVoltage withVelocity​(double newVelocity)
    Modifies this Control Request's Velocity parameter and returns itself for method-chaining and easier to use request API.

    Methods inherited from class com.ctre.phoenix6.controls.ControlRequest

    getControlInfo

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

  • Field Details

    • Velocity

      public double Velocity
      Velocity to drive toward in rotations per second.

    • EnableFOC

      public boolean EnableFOC
      Set to true to use FOC commutation, which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

    • FeedForward

      public double FeedForward
      Feedforward to apply in volts

    • 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].

    • OverrideBrakeDurNeutral

      public boolean OverrideBrakeDurNeutral
      Set to true to static-brake 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 0V to the motor.

    • 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

    • VelocityVoltage

      public VelocityVoltage​(double Velocity, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral)
      Request PID to target velocity with voltage feedforward.

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

      Parameters:
      Velocity - Velocity to drive toward in rotations per second.
      EnableFOC - Set to true to use FOC commutation, which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
      FeedForward - Feedforward to apply in volts
      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].
      OverrideBrakeDurNeutral - Set to true to static-brake 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 0V to the motor.

    • VelocityVoltage

      public VelocityVoltage​(double Velocity)
      Request PID to target velocity with voltage feedforward.

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

      Parameters:
      Velocity - Velocity to drive toward in rotations per second.

  • 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

    • withVelocity

      public VelocityVoltage withVelocity​(double newVelocity)
      Modifies this Control Request's Velocity parameter and returns itself for method-chaining and easier to use request API.
      Parameters:
      newVelocity - Parameter to modify
      Returns:
      Itself

    • withEnableFOC

      public VelocityVoltage withEnableFOC​(boolean newEnableFOC)
      Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.
      Parameters:
      newEnableFOC - Parameter to modify
      Returns:
      Itself

    • withFeedForward

      public VelocityVoltage 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 VelocityVoltage 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

    • withOverrideBrakeDurNeutral

      public VelocityVoltage withOverrideBrakeDurNeutral​(boolean newOverrideBrakeDurNeutral)
      Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.
      Parameters:
      newOverrideBrakeDurNeutral - Parameter to modify
      Returns:
      Itself

    • withUpdateFreqHz

      public VelocityVoltage 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