Package com.ctre.phoenixpro.controls

Class VelocityTorqueCurrentFOC

java.lang.Object
com.ctre.phoenixpro.controls.ControlRequest
com.ctre.phoenixpro.controls.VelocityTorqueCurrentFOC
@Deprecated(forRemoval=true)
public class VelocityTorqueCurrentFOC
extends ControlRequest
Deprecated, for removal: This API element is subject to removal in a future version.
Classes in the phoenixpro package will be removed in 2024. Users should instead use classes from the phoenix6 package.
Request PID to target velocity with torque current 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 torque current as an arbitrary feedforward value.

  • Field Summary

    Fields 
    Modifier and Type Field Description
    double configTimeout
    Deprecated, for removal: This API element is subject to removal in a future version.
    The timeout when sending configs associated with this control
    double FeedForward
    Deprecated, for removal: This API element is subject to removal in a future version.
    Feedforward to apply in torque current in Amperes.
    boolean OverrideCoastDurNeutral
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set to true to coast the rotor when output is zero (or within deadband).
    int Slot
    Deprecated, for removal: This API element is subject to removal in a future version.
    Select which gains are applied by selecting the slot.
    double UpdateFreqHz
    Deprecated, for removal: This API element is subject to removal in a future version.
    The period at which this control will update at.
    double Velocity
    Deprecated, for removal: This API element is subject to removal in a future version.
    Velocity to drive toward in rotations per second.

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

    requestReference

  • Constructor Summary

    Constructors 
    Constructor Description
    VelocityTorqueCurrentFOC​(double Velocity)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Classes in the phoenixpro package will be removed in 2024.
    VelocityTorqueCurrentFOC​(double Velocity, double FeedForward, int Slot, boolean OverrideCoastDurNeutral)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Classes in the phoenixpro package will be removed in 2024.

  • Method Summary

    Modifier and Type Method Description
    void forceApplyConfigs()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Forces configs to be applied the next time this is used in a setControl.
    StatusCode sendRequest​(String network, int deviceHash, boolean cancelOtherRequests)
    Deprecated, for removal: This API element is subject to removal in a future version.
     
    String toString()
    Deprecated, for removal: This API element is subject to removal in a future version.
     
    VelocityTorqueCurrentFOC withFeedForward​(double newFeedForward)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.
    VelocityTorqueCurrentFOC withOverrideCoastDurNeutral​(boolean newOverrideCoastDurNeutral)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chaining and easier to use request API.
    VelocityTorqueCurrentFOC withSlot​(int newSlot)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API.
    VelocityTorqueCurrentFOC withUpdateFreqHz​(double newUpdateFreqHz)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Sets the period at which this control will update at.
    VelocityTorqueCurrentFOC withVelocity​(double newVelocity)
    Deprecated, for removal: This API element is subject to removal in a future version.
    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.phoenixpro.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
      Deprecated, for removal: This API element is subject to removal in a future version.
      Velocity to drive toward in rotations per second.

    • FeedForward

      public double FeedForward
      Deprecated, for removal: This API element is subject to removal in a future version.
      Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.

    • Slot

      public int Slot
      Deprecated, for removal: This API element is subject to removal in a future version.
      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
      Deprecated, for removal: This API element is subject to removal in a future version.
      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
      Deprecated, for removal: This API element is subject to removal in a future version.
      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
      Deprecated, for removal: This API element is subject to removal in a future version.
      The timeout when sending configs associated with this control

  • Constructor Details

    • VelocityTorqueCurrentFOC

      @Deprecated(forRemoval=true) public VelocityTorqueCurrentFOC​(double Velocity, double FeedForward, int Slot, boolean OverrideCoastDurNeutral)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Classes in the phoenixpro package will be removed in 2024. Users should instead use classes from the phoenix6 package.
      Request PID to target velocity with torque current 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 torque current as an arbitrary feedforward value.

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

    • VelocityTorqueCurrentFOC

      @Deprecated(forRemoval=true) public VelocityTorqueCurrentFOC​(double Velocity)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Classes in the phoenixpro package will be removed in 2024. Users should instead use classes from the phoenix6 package.
      Request PID to target velocity with torque current 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 torque current as an arbitrary feedforward value.

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

  • Method Details

    • toString

      public String toString()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Overrides:
      toString in class Object

    • sendRequest

      public StatusCode sendRequest​(String network, int deviceHash, boolean cancelOtherRequests)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Specified by:
      sendRequest in class ControlRequest

    • withVelocity

      public VelocityTorqueCurrentFOC withVelocity​(double newVelocity)
      Deprecated, for removal: This API element is subject to removal in a future version.
      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

    • withFeedForward

      public VelocityTorqueCurrentFOC withFeedForward​(double newFeedForward)
      Deprecated, for removal: This API element is subject to removal in a future version.
      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 VelocityTorqueCurrentFOC withSlot​(int newSlot)
      Deprecated, for removal: This API element is subject to removal in a future version.
      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 VelocityTorqueCurrentFOC withOverrideCoastDurNeutral​(boolean newOverrideCoastDurNeutral)
      Deprecated, for removal: This API element is subject to removal in a future version.
      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 VelocityTorqueCurrentFOC withUpdateFreqHz​(double newUpdateFreqHz)
      Deprecated, for removal: This API element is subject to removal in a future version.
      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()
      Deprecated, for removal: This API element is subject to removal in a future version.
      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