Class DifferentialMotionMagicDutyCycle
public class DifferentialMotionMagicDutyCycle extends ControlRequest
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.
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Field Summary
Fields Modifier and Type Field Description double
configTimeout
The timeout when sending configs associated with this controldouble
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. -
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.
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Field Details
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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. -
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.
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configTimeout
The timeout when sending configs associated with this control
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Constructor Details
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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.
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DifferentialMotionMagicDutyCycle
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.
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Method Details
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toString
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sendRequest
- Specified by:
sendRequest
in classControlRequest
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getControlInfo
Gets information about this control request.- Specified by:
getControlInfo
in classControlRequest
- Returns:
- Map of control parameter names and corresponding applied values
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withTargetPosition
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
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withDifferentialPosition
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
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withEnableFOC
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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withTargetSlot
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
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withDifferentialSlot
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
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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
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withUpdateFreqHz
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
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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