001/* 002 * Copyright (C) Cross The Road Electronics. All rights reserved. 003 * License information can be found in CTRE_LICENSE.txt 004 * For support and suggestions contact support@ctr-electronics.com or file 005 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases 006 */ 007package com.ctre.phoenixpro.controls; 008 009import com.ctre.phoenix6.StatusCode; 010import com.ctre.phoenix6.controls.jni.ControlJNI; 011import com.ctre.phoenix6.controls.jni.ControlConfigJNI; 012 013/** 014 * Request PID to target velocity with duty cycle feedforward. 015 * <p> 016 * This control mode will set the motor's velocity setpoint to the velocity specified by the user. In 017 * addition, it will apply an additional voltage as an arbitrary feedforward value. 018 * 019 * @deprecated Classes in the phoenixpro package will be removed in 2024. 020 * Users should instead use classes from the phoenix6 package. 021 */ 022@Deprecated(forRemoval = true) 023public class VelocityDutyCycle extends ControlRequest 024{ 025 private boolean applyConfigsOnRequest; 026 /** 027 * Velocity to drive toward in rotations per second. 028 */ 029 public double Velocity; 030 /** 031 * Set to true to use FOC commutation, which increases peak power by ~15%. Set 032 * to false to use trapezoidal commutation. FOC improves motor performance by 033 * leveraging torque (current) control. However, this may be inconvenient for 034 * applications that require specifying duty cycle or voltage. CTR-Electronics 035 * has developed a hybrid method that combines the performances gains of FOC 036 * while still allowing applications to provide duty cycle or voltage demand. 037 * This not to be confused with simple sinusoidal control or phase voltage 038 * control which lacks the performance gains. 039 */ 040 public boolean EnableFOC; 041 /** 042 * Feedforward to apply in fractional units between -1 and +1. 043 */ 044 public double FeedForward; 045 /** 046 * Select which gains are applied by selecting the slot. Use the configuration 047 * api to set the gain values for the selected slot before enabling this 048 * feature. Slot must be within [0,2]. 049 */ 050 public int Slot; 051 /** 052 * Set to true to static-brake the rotor when output is zero (or within 053 * deadband). Set to false to use the NeutralMode configuration setting 054 * (default). This flag exists to provide the fundamental behavior of this 055 * control when output is zero, which is to provide 0V to the motor. 056 */ 057 public boolean OverrideBrakeDurNeutral; 058 059 060 /** 061 * The period at which this control will update at. 062 * This is designated in Hertz, with a minimum of 20 Hz 063 * (every 50 ms) and a maximum of 1000 Hz (every 1 ms). 064 * <p> 065 * If this field is set to 0 Hz, the control request will 066 * be sent immediately as a one-shot frame. This may be useful 067 * for advanced applications that require outputs to be 068 * synchronized with data acquisition. In this case, we 069 * recommend not exceeding 50 ms between control calls. 070 */ 071 public double UpdateFreqHz = 100; // Default to 100Hz 072 073 /** 074 * The timeout when sending configs associated with this control 075 */ 076 public double configTimeout = 0.1; 077 078 /** 079 * Request PID to target velocity with duty cycle feedforward. 080 * <p> 081 * This control mode will set the motor's velocity setpoint to the velocity 082 * specified by the user. In addition, it will apply an additional voltage 083 * as an arbitrary feedforward value. 084 * 085 * @param Velocity Velocity to drive toward in rotations per second. 086 * @param EnableFOC Set to true to use FOC commutation, which increases 087 * peak power by ~15%. Set to false to use trapezoidal 088 * commutation. FOC improves motor performance by 089 * leveraging torque (current) control. However, this 090 * may be inconvenient for applications that require 091 * specifying duty cycle or voltage. CTR-Electronics 092 * has developed a hybrid method that combines the 093 * performances gains of FOC while still allowing 094 * applications to provide duty cycle or voltage 095 * demand. This not to be confused with simple 096 * sinusoidal control or phase voltage control which 097 * lacks the performance gains. 098 * @param FeedForward Feedforward to apply in fractional units between 099 * -1 and +1. 100 * @param Slot Select which gains are applied by selecting the slot. 101 * Use the configuration api to set the gain values for the 102 * selected slot before enabling this feature. Slot must be 103 * within [0,2]. 104 * @param OverrideBrakeDurNeutral Set to true to static-brake the rotor 105 * when output is zero (or within 106 * deadband). Set to false to use the 107 * NeutralMode configuration setting 108 * (default). This flag exists to provide 109 * the fundamental behavior of this 110 * control when output is zero, which is 111 * to provide 0V to the motor. 112 * 113 * @deprecated Classes in the phoenixpro package will be removed in 2024. 114 * Users should instead use classes from the phoenix6 package. 115 */ 116 @Deprecated(forRemoval = true) 117 public VelocityDutyCycle(double Velocity, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral) 118 { 119 super("VelocityDutyCycle"); 120 this.Velocity = Velocity; 121 this.EnableFOC = EnableFOC; 122 this.FeedForward = FeedForward; 123 this.Slot = Slot; 124 this.OverrideBrakeDurNeutral = OverrideBrakeDurNeutral; 125 } 126 127 /** 128 * Request PID to target velocity with duty cycle feedforward. 129 * <p> 130 * This control mode will set the motor's velocity setpoint to the velocity 131 * specified by the user. In addition, it will apply an additional voltage 132 * as an arbitrary feedforward value. 133 * 134 * @param Velocity Velocity to drive toward in rotations per second. 135 * 136 * @deprecated Classes in the phoenixpro package will be removed in 2024. 137 * Users should instead use classes from the phoenix6 package. 138 */ 139 @Deprecated(forRemoval = true) 140 public VelocityDutyCycle(double Velocity) 141 { 142 this(Velocity, true, 0.0, 0, false); 143 } 144 145 @Override 146 public String toString() 147 { 148 String ss = "class: VelocityDutyCycle\n"; 149 ss += "Velocity: " + Velocity + "\n"; 150 ss += "EnableFOC: " + EnableFOC + "\n"; 151 ss += "FeedForward: " + FeedForward + "\n"; 152 ss += "Slot: " + Slot + "\n"; 153 ss += "OverrideBrakeDurNeutral: " + OverrideBrakeDurNeutral + "\n"; 154 return ss; 155 } 156 157 @Override 158 public StatusCode sendRequest(String network, int deviceHash, boolean cancelOtherRequests) 159 { 160 var ref = requestReference.getNameValues(); 161 ref.put("Velocity", String.valueOf(this.Velocity)); 162 ref.put("EnableFOC", String.valueOf(this.EnableFOC)); 163 ref.put("FeedForward", String.valueOf(this.FeedForward)); 164 ref.put("Slot", String.valueOf(this.Slot)); 165 ref.put("OverrideBrakeDurNeutral", String.valueOf(this.OverrideBrakeDurNeutral)); 166 String ss = ""; 167 168 ControlConfigJNI.JNI_RequestConfigApply(network, deviceHash, configTimeout, ss, applyConfigsOnRequest); 169 applyConfigsOnRequest = false; 170 return StatusCode.valueOf(ControlJNI.JNI_RequestControlVelocityDutyCycle( 171 network, deviceHash, UpdateFreqHz, cancelOtherRequests, Velocity, EnableFOC, FeedForward, Slot, OverrideBrakeDurNeutral)); 172 } 173 174 /** 175 * Modifies this Control Request's Velocity parameter and returns itself for 176 * method-chaining and easier to use request API. 177 * 178 * @param newVelocity Parameter to modify 179 * @return Itself 180 */ 181 public VelocityDutyCycle withVelocity(double newVelocity) 182 { 183 Velocity = newVelocity; 184 return this; 185 } 186 187 /** 188 * Modifies this Control Request's EnableFOC parameter and returns itself for 189 * method-chaining and easier to use request API. 190 * 191 * @param newEnableFOC Parameter to modify 192 * @return Itself 193 */ 194 public VelocityDutyCycle withEnableFOC(boolean newEnableFOC) 195 { 196 EnableFOC = newEnableFOC; 197 return this; 198 } 199 200 /** 201 * Modifies this Control Request's FeedForward parameter and returns itself for 202 * method-chaining and easier to use request API. 203 * 204 * @param newFeedForward Parameter to modify 205 * @return Itself 206 */ 207 public VelocityDutyCycle withFeedForward(double newFeedForward) 208 { 209 FeedForward = newFeedForward; 210 return this; 211 } 212 213 /** 214 * Modifies this Control Request's Slot parameter and returns itself for 215 * method-chaining and easier to use request API. 216 * 217 * @param newSlot Parameter to modify 218 * @return Itself 219 */ 220 public VelocityDutyCycle withSlot(int newSlot) 221 { 222 Slot = newSlot; 223 return this; 224 } 225 226 /** 227 * Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for 228 * method-chaining and easier to use request API. 229 * 230 * @param newOverrideBrakeDurNeutral Parameter to modify 231 * @return Itself 232 */ 233 public VelocityDutyCycle withOverrideBrakeDurNeutral(boolean newOverrideBrakeDurNeutral) 234 { 235 OverrideBrakeDurNeutral = newOverrideBrakeDurNeutral; 236 return this; 237 } 238 /** 239 * Sets the period at which this control will update at. 240 * This is designated in Hertz, with a minimum of 20 Hz 241 * (every 50 ms) and a maximum of 1000 Hz (every 1 ms). 242 * <p> 243 * If this field is set to 0 Hz, the control request will 244 * be sent immediately as a one-shot frame. This may be useful 245 * for advanced applications that require outputs to be 246 * synchronized with data acquisition. In this case, we 247 * recommend not exceeding 50 ms between control calls. 248 * 249 * @param newUpdateFreqHz Parameter to modify 250 * @return Itself 251 */ 252 public VelocityDutyCycle withUpdateFreqHz(double newUpdateFreqHz) 253 { 254 UpdateFreqHz = newUpdateFreqHz; 255 return this; 256 } 257 /** 258 * Forces configs to be applied the next time this is used in a setControl. 259 * <p> 260 * This is not necessary in the majority of cases, because Phoenix will make sure configs are 261 * properly set when they are not already set 262 */ 263 public void forceApplyConfigs() { applyConfigsOnRequest = true; } 264} 265