Package com.ctre.phoenix6.controls

Class DifferentialMotionMagicDutyCycle

java.lang.Object

com.ctre.phoenix6.controls.ControlRequest

com.ctre.phoenix6.controls.DifferentialMotionMagicDutyCycle

public class DifferentialMotionMagicDutyCycle
extends ControlRequest

Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

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 toward 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	TargetPosition	Average position to drive toward in rotations.
int	TargetSlot	Select which gains are applied to the primary controller by selecting the slot.
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
DifferentialMotionMagicDutyCycle(double TargetPosition, double DifferentialPosition)	Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.
DifferentialMotionMagicDutyCycle(double TargetPosition, double DifferentialPosition, boolean EnableFOC, int TargetSlot, int DifferentialSlot, boolean OverrideBrakeDurNeutral)	Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

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()
DifferentialMotionMagicDutyCycle	withDifferentialPosition(double newDifferentialPosition)	Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining and easier to use request API.
DifferentialMotionMagicDutyCycle	withDifferentialSlot(int newDifferentialSlot)	Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and easier to use request API.
DifferentialMotionMagicDutyCycle	withEnableFOC(boolean newEnableFOC)	Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.
DifferentialMotionMagicDutyCycle	withOverrideBrakeDurNeutral(boolean newOverrideBrakeDurNeutral)	Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.
DifferentialMotionMagicDutyCycle	withTargetPosition(double newTargetPosition)	Modifies this Control Request's TargetPosition parameter and returns itself for method-chaining and easier to use request API.
DifferentialMotionMagicDutyCycle	withTargetSlot(int newTargetSlot)	Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easier to use request API.
DifferentialMotionMagicDutyCycle	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

TargetPosition

public double TargetPosition

Average position to drive toward in rotations.

DifferentialPosition

public double DifferentialPosition

Differential position to drive toward 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.

TargetSlot

public int 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

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

DifferentialMotionMagicDutyCycle

public DifferentialMotionMagicDutyCycle(double TargetPosition, double DifferentialPosition, boolean EnableFOC, int TargetSlot, int DifferentialSlot, boolean OverrideBrakeDurNeutral)

Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

Parameters:

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.

DifferentialMotionMagicDutyCycle

public DifferentialMotionMagicDutyCycle(double TargetPosition, double DifferentialPosition)

Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

Parameters:

TargetPosition - Average position to drive toward in rotations.

DifferentialPosition - Differential position to drive toward 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

withTargetPosition

public DifferentialMotionMagicDutyCycle withTargetPosition(double newTargetPosition)

Modifies this Control Request's TargetPosition parameter and returns itself for method-chaining and easier to use request API.

Parameters:

newTargetPosition - Parameter to modify

Returns:

Itself

withDifferentialPosition

public DifferentialMotionMagicDutyCycle 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 DifferentialMotionMagicDutyCycle 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

withTargetSlot

public DifferentialMotionMagicDutyCycle withTargetSlot(int newTargetSlot)

Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easier to use request API.

Parameters:

newTargetSlot - Parameter to modify

Returns:

Itself

withDifferentialSlot

public DifferentialMotionMagicDutyCycle 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 DifferentialMotionMagicDutyCycle 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 DifferentialMotionMagicDutyCycle 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