Class VoltageOut
@Deprecated(forRemoval=true) public class VoltageOut extends ControlRequest
This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage.
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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 controlboolean
EnableFOC
Deprecated, for removal: This API element is subject to removal in a future version.Set to true to use FOC commutation, which increases peak power by ~15%.double
Output
Deprecated, for removal: This API element is subject to removal in a future version.Voltage to attempt to drive atboolean
OverrideBrakeDurNeutral
Deprecated, for removal: This API element is subject to removal in a future version.Set to true to static-brake the rotor when output is zero (or within deadband).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.VoltageConfigs
Voltage
Deprecated, for removal: This API element is subject to removal in a future version.Voltage-specific configs -
Constructor Summary
Constructors Constructor Description VoltageOut(double Output)
Deprecated, for removal: This API element is subject to removal in a future version.Classes in the phoenixpro package will be removed in 2024.VoltageOut(double Output, boolean EnableFOC, boolean OverrideBrakeDurNeutral)
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.VoltageOut
withEnableFOC(boolean newEnableFOC)
Deprecated, for removal: This API element is subject to removal in a future version.Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.VoltageOut
withOutput(double newOutput)
Deprecated, for removal: This API element is subject to removal in a future version.Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.VoltageOut
withOverrideBrakeDurNeutral(boolean newOverrideBrakeDurNeutral)
Deprecated, for removal: This API element is subject to removal in a future version.Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.VoltageOut
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.
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Field Details
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Output
Deprecated, for removal: This API element is subject to removal in a future version.Voltage to attempt to drive at -
EnableFOC
Deprecated, for removal: This API element is subject to removal in a future version.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. -
OverrideBrakeDurNeutral
Deprecated, for removal: This API element is subject to removal in a future version.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. -
Voltage
Deprecated, for removal: This API element is subject to removal in a future version.Voltage-specific configsVoltage-specific configs
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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.
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configTimeout
Deprecated, for removal: This API element is subject to removal in a future version.The timeout when sending configs associated with this control
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Constructor Details
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VoltageOut
@Deprecated(forRemoval=true) public VoltageOut(double Output, boolean EnableFOC, boolean OverrideBrakeDurNeutral)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 a specified voltage.This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage.
- Parameters:
Output
- Voltage to attempt to drive atEnableFOC
- 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.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.
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VoltageOut
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 a specified voltage.This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage.
- Parameters:
Output
- Voltage to attempt to drive at
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Method Details
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toString
Deprecated, for removal: This API element is subject to removal in a future version. -
sendRequest
Deprecated, for removal: This API element is subject to removal in a future version.- Specified by:
sendRequest
in classControlRequest
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withOutput
Deprecated, for removal: This API element is subject to removal in a future version.Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.- Parameters:
newOutput
- Parameter to modify- Returns:
- Itself
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withEnableFOC
Deprecated, for removal: This API element is subject to removal in a future version.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
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withOverrideBrakeDurNeutral
Deprecated, for removal: This API element is subject to removal in a future version.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
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withUpdateFreqHz
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
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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
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