CTRE Phoenix 6 C++ 23.10.0-alpha-8
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Request PID to target position with a differential position setpoint. More...
#include <ctre/phoenix6/controls/DifferentialPositionDutyCycle.hpp>
Public Member Functions | |
DifferentialPositionDutyCycle (units::angle::turn_t TargetPosition, units::angle::turn_t DifferentialPosition, bool EnableFOC, int TargetSlot, int DifferentialSlot, bool OverrideBrakeDurNeutral) | |
Request PID to target position with a differential position setpoint. More... | |
DifferentialPositionDutyCycle (units::angle::turn_t TargetPosition, units::angle::turn_t DifferentialPosition) | |
Request PID to target position with a differential position setpoint. More... | |
DifferentialPositionDutyCycle & | WithTargetPosition (units::angle::turn_t newTargetPosition) |
Modifies this Control Request's TargetPosition parameter and returns itself for method-chaining and easier to use request API. More... | |
DifferentialPositionDutyCycle & | WithDifferentialPosition (units::angle::turn_t newDifferentialPosition) |
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining and easier to use request API. More... | |
DifferentialPositionDutyCycle & | WithEnableFOC (bool newEnableFOC) |
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API. More... | |
DifferentialPositionDutyCycle & | WithTargetSlot (int newTargetSlot) |
Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easier to use request API. More... | |
DifferentialPositionDutyCycle & | WithDifferentialSlot (int newDifferentialSlot) |
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and easier to use request API. More... | |
DifferentialPositionDutyCycle & | WithOverrideBrakeDurNeutral (bool newOverrideBrakeDurNeutral) |
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API. More... | |
DifferentialPositionDutyCycle & | WithUpdateFreqHz (units::frequency::hertz_t newUpdateFreqHz) |
Sets the period at which this control will update at. More... | |
std::string | ToString () const override |
Returns a string representation of the object. More... | |
void | ForceApplyConfigs () |
Forces configs to be applied the next time this is used in a setControl. More... | |
std::map< std::string, std::string > | GetControlInfo () const override |
Gets information about this control request. More... | |
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ControlRequest (std::string name) | |
Constructs a new Control Request with the given name. More... | |
std::string const & | GetName () const |
virtual std::map< std::string, std::string > | GetControlInfo () const =0 |
Gets information about this control request. More... | |
virtual | ~ControlRequest ()=default |
virtual std::string | ToString () const =0 |
Public Attributes | |
units::angle::turn_t | TargetPosition |
Average position to drive toward in rotations. More... | |
units::angle::turn_t | DifferentialPosition |
Differential position to drive toward in rotations. More... | |
bool | EnableFOC |
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. More... | |
int | TargetSlot |
Select which gains are applied to the primary controller by selecting the slot. More... | |
int | DifferentialSlot |
Select which gains are applied to the differential controller by selecting the slot. More... | |
bool | OverrideBrakeDurNeutral |
Set to true to static-brake the rotor when output is zero (or within deadband). More... | |
units::time::second_t | ConfigTimeout {0.1_s} |
The timeout when sending configs associated with this control. More... | |
units::frequency::hertz_t | UpdateFreqHz {100_Hz} |
The period at which this control will update at. More... | |
Additional Inherited Members | |
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ControlRequest (ControlRequest const &)=default | |
ControlRequest (ControlRequest &&)=default | |
ControlRequest & | operator= (ControlRequest const &)=default |
ControlRequest & | operator= (ControlRequest &&)=default |
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std::string | name |
Request PID to target position with a differential position setpoint.
This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.
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Request PID to target position with a differential position setpoint.
This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.
TargetPosition | Average position to drive toward in rotations. |
DifferentialPosition | Differential position to drive toward in rotations. |
EnableFOC | Set to true to use FOC commutation (requires Phoenix Pro), 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. |
TargetSlot | Select which gains are applied to the primary controller 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]. |
DifferentialSlot | Select which gains are applied to the differential controller 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. |
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Request PID to target position with a differential position setpoint.
This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.
TargetPosition | Average position to drive toward in rotations. |
DifferentialPosition | Differential position to drive toward in rotations. |
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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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inlineoverridevirtual |
Gets information about this control request.
Implements ctre::phoenix6::controls::ControlRequest.
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inlineoverridevirtual |
Returns a string representation of the object.
Implements ctre::phoenix6::controls::ControlRequest.
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Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining and easier to use request API.
newDifferentialPosition | Parameter to modify |
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Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and easier to use request API.
newDifferentialSlot | Parameter to modify |
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Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.
newEnableFOC | Parameter to modify |
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Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.
newOverrideBrakeDurNeutral | Parameter to modify |
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Modifies this Control Request's TargetPosition parameter and returns itself for method-chaining and easier to use request API.
newTargetPosition | Parameter to modify |
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Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easier to use request API.
newTargetSlot | Parameter to modify |
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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.
newUpdateFreqHz | Parameter to modify |
units::time::second_t ctre::phoenix6::controls::DifferentialPositionDutyCycle::ConfigTimeout {0.1_s} |
The timeout when sending configs associated with this control.
units::angle::turn_t ctre::phoenix6::controls::DifferentialPositionDutyCycle::DifferentialPosition |
Differential position to drive toward in rotations.
int ctre::phoenix6::controls::DifferentialPositionDutyCycle::DifferentialSlot |
Select which gains are applied to the differential controller 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].
bool ctre::phoenix6::controls::DifferentialPositionDutyCycle::EnableFOC |
Set to true to use FOC commutation (requires Phoenix Pro), 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.
bool ctre::phoenix6::controls::DifferentialPositionDutyCycle::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.
units::angle::turn_t ctre::phoenix6::controls::DifferentialPositionDutyCycle::TargetPosition |
Average position to drive toward in rotations.
int ctre::phoenix6::controls::DifferentialPositionDutyCycle::TargetSlot |
Select which gains are applied to the primary controller 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].
units::frequency::hertz_t ctre::phoenix6::controls::DifferentialPositionDutyCycle::UpdateFreqHz {100_Hz} |
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.