Package com.ctre.phoenix6.controls

Class DifferentialDutyCycle

java.lang.Object
com.ctre.phoenix6.controls.ControlRequest
com.ctre.phoenix6.controls.DifferentialDutyCycle
public class DifferentialDutyCycle
extends ControlRequest
Request a specified motor duty cycle with a differential position closed-loop.

This control mode will output a proportion of the supplied voltage which is supplied by the user. It will also set the motor's differential position setpoint to the specified position.

  • Field Summary

    Fields 
    Modifier and Type Field Description
    double configTimeout
    The timeout when sending configs associated with this control
    double DifferentialPosition
    Differential position to drive towards in rotations
    int DifferentialSlot
    Select which gains are applied to the differential controller by selecting the slot.
    boolean EnableFOC
    Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
    boolean OverrideBrakeDurNeutral
    Set to true to static-brake the rotor when output is zero (or within deadband).
    double TargetOutput
    Proportion of supply voltage to apply in fractional units between -1 and +1
    double UpdateFreqHz
    The period at which this control will update at.

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

    name

  • Constructor Summary

    Constructors 
    Constructor Description
    DifferentialDutyCycle​(double TargetOutput, double DifferentialPosition)
    Request a specified motor duty cycle with a differential position closed-loop.
    DifferentialDutyCycle​(double TargetOutput, double DifferentialPosition, boolean EnableFOC, int DifferentialSlot, boolean OverrideBrakeDurNeutral)
    Request a specified motor duty cycle with a differential position closed-loop.

  • Method Summary

    Modifier and Type Method Description
    void forceApplyConfigs()
    Forces configs to be applied the next time this is used in a setControl.
    Map<String,​String> getControlInfo()
    Gets information about this control request.
    StatusCode sendRequest​(String network, int deviceHash, boolean cancelOtherRequests)  
    String toString()  
    DifferentialDutyCycle withDifferentialPosition​(double newDifferentialPosition)
    Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining and easier to use request API.
    DifferentialDutyCycle withDifferentialSlot​(int newDifferentialSlot)
    Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and easier to use request API.
    DifferentialDutyCycle withEnableFOC​(boolean newEnableFOC)
    Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.
    DifferentialDutyCycle withOverrideBrakeDurNeutral​(boolean newOverrideBrakeDurNeutral)
    Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.
    DifferentialDutyCycle withTargetOutput​(double newTargetOutput)
    Modifies this Control Request's TargetOutput parameter and returns itself for method-chaining and easier to use request API.
    DifferentialDutyCycle withUpdateFreqHz​(double newUpdateFreqHz)
    Sets the period at which this control will update at.

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

    getName

    Methods inherited from class java.lang.Object

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

  • Field Details

    • TargetOutput

      public double TargetOutput
      Proportion of supply voltage to apply in fractional units between -1 and +1

    • DifferentialPosition

      public double DifferentialPosition
      Differential position to drive towards in rotations

    • EnableFOC

      public boolean 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.

    • DifferentialSlot

      public int 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

      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

    • DifferentialDutyCycle

      public DifferentialDutyCycle​(double TargetOutput, double DifferentialPosition, boolean EnableFOC, int DifferentialSlot, boolean OverrideBrakeDurNeutral)
      Request a specified motor duty cycle with a differential position closed-loop.

      This control mode will output a proportion of the supplied voltage which is supplied by the user. It will also set the motor's differential position setpoint to the specified position.

      Parameters:
      TargetOutput - Proportion of supply voltage to apply in fractional units between -1 and +1
      DifferentialPosition - Differential position to drive towards 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.
      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.

    • DifferentialDutyCycle

      public DifferentialDutyCycle​(double TargetOutput, double DifferentialPosition)
      Request a specified motor duty cycle with a differential position closed-loop.

      This control mode will output a proportion of the supplied voltage which is supplied by the user. It will also set the motor's differential position setpoint to the specified position.

      Parameters:
      TargetOutput - Proportion of supply voltage to apply in fractional units between -1 and +1
      DifferentialPosition - Differential position to drive towards in rotations

  • 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

    • getControlInfo

      public Map<String,​String> getControlInfo()
      Gets information about this control request.
      Specified by:
      getControlInfo in class ControlRequest
      Returns:
      Map of control parameter names and corresponding applied values

    • withTargetOutput

      public DifferentialDutyCycle withTargetOutput​(double newTargetOutput)
      Modifies this Control Request's TargetOutput parameter and returns itself for method-chaining and easier to use request API.
      Parameters:
      newTargetOutput - Parameter to modify
      Returns:
      Itself

    • withDifferentialPosition

      public DifferentialDutyCycle withDifferentialPosition​(double newDifferentialPosition)
      Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining and easier to use request API.
      Parameters:
      newDifferentialPosition - Parameter to modify
      Returns:
      Itself

    • withEnableFOC

      public DifferentialDutyCycle 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

    • withDifferentialSlot

      public DifferentialDutyCycle withDifferentialSlot​(int newDifferentialSlot)
      Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and easier to use request API.
      Parameters:
      newDifferentialSlot - Parameter to modify
      Returns:
      Itself

    • withOverrideBrakeDurNeutral

      public DifferentialDutyCycle 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 DifferentialDutyCycle 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