Package com.ctre.phoenix6.controls

Class DynamicMotionMagicTorqueCurrentFOC

java.lang.Object

com.ctre.phoenix6.controls.ControlRequest

com.ctre.phoenix6.controls.DynamicMotionMagicTorqueCurrentFOC

public class DynamicMotionMagicTorqueCurrentFOC
extends ControlRequest

Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a torque current feedforward. This control requires use of a CANivore.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and Jerk value. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

Field Summary

Fields

Modifier and Type	Field	Description
double	Acceleration	Acceleration for profiling.
double	configTimeout	The timeout when sending configs associated with this control
double	FeedForward	Feedforward to apply in torque current in Amperes.
double	Jerk	Jerk for profiling.
boolean	OverrideCoastDurNeutral	Set to true to coast the rotor when output is zero (or within deadband).
double	Position	Position to drive toward in rotations.
int	Slot	Select which gains are applied by selecting the slot.
double	UpdateFreqHz	The period at which this control will update at.
double	Velocity	Cruise velocity for profiling.

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

name

Constructor Summary

Constructors

Constructor	Description
DynamicMotionMagicTorqueCurrentFOC(double Position, double Velocity, double Acceleration, double Jerk)	Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion profile.
DynamicMotionMagicTorqueCurrentFOC(double Position, double Velocity, double Acceleration, double Jerk, double FeedForward, int Slot, boolean OverrideCoastDurNeutral)	Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion profile.

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()
DynamicMotionMagicTorqueCurrentFOC	withAcceleration(double newAcceleration)	Modifies this Control Request's Acceleration parameter and returns itself for method-chaining and easier to use request API.
DynamicMotionMagicTorqueCurrentFOC	withFeedForward(double newFeedForward)	Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.
DynamicMotionMagicTorqueCurrentFOC	withJerk(double newJerk)	Modifies this Control Request's Jerk parameter and returns itself for method-chaining and easier to use request API.
DynamicMotionMagicTorqueCurrentFOC	withOverrideCoastDurNeutral(boolean newOverrideCoastDurNeutral)	Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chaining and easier to use request API.
DynamicMotionMagicTorqueCurrentFOC	withPosition(double newPosition)	Modifies this Control Request's Position parameter and returns itself for method-chaining and easier to use request API.
DynamicMotionMagicTorqueCurrentFOC	withSlot(int newSlot)	Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API.
DynamicMotionMagicTorqueCurrentFOC	withUpdateFreqHz(double newUpdateFreqHz)	Sets the period at which this control will update at.
DynamicMotionMagicTorqueCurrentFOC	withVelocity(double newVelocity)	Modifies this Control Request's Velocity parameter and returns itself for method-chaining and easier to use request API.

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

Position

public double Position

Position to drive toward in rotations.

Velocity

public double Velocity

Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.

Acceleration

public double Acceleration

Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.

Jerk

public double Jerk

Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.

FeedForward

public double FeedForward

Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.

Slot

public int Slot

Select which gains are applied 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].

OverrideCoastDurNeutral

public boolean OverrideCoastDurNeutral

Set to true to coast 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 0A (zero torque).

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

DynamicMotionMagicTorqueCurrentFOC

public DynamicMotionMagicTorqueCurrentFOC(double Position, double Velocity, double Acceleration, double Jerk, double FeedForward, int Slot, boolean OverrideCoastDurNeutral)

Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a torque current feedforward. This control requires use of a CANivore.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and Jerk value. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

Parameters:

Position - Position to drive toward in rotations.

Velocity - Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.

Acceleration - Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.

Jerk - Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.

FeedForward - Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.

Slot - Select which gains are applied 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].

OverrideCoastDurNeutral - Set to true to coast 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 0A (zero torque).

DynamicMotionMagicTorqueCurrentFOC

public DynamicMotionMagicTorqueCurrentFOC(double Position, double Velocity, double Acceleration, double Jerk)

Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a torque current feedforward. This control requires use of a CANivore.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and Jerk value. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

Parameters:

Position - Position to drive toward in rotations.

Velocity - Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.

Acceleration - Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.

Jerk - Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.

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

withPosition

public DynamicMotionMagicTorqueCurrentFOC withPosition(double newPosition)

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

Parameters:

newPosition - Parameter to modify

Returns:

Itself

withVelocity

public DynamicMotionMagicTorqueCurrentFOC withVelocity(double newVelocity)

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

Parameters:

newVelocity - Parameter to modify

Returns:

Itself

withAcceleration

public DynamicMotionMagicTorqueCurrentFOC withAcceleration(double newAcceleration)

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

Parameters:

newAcceleration - Parameter to modify

Returns:

Itself

withJerk

public DynamicMotionMagicTorqueCurrentFOC withJerk(double newJerk)

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

Parameters:

newJerk - Parameter to modify

Returns:

Itself

withFeedForward

public DynamicMotionMagicTorqueCurrentFOC withFeedForward(double newFeedForward)

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

Parameters:

newFeedForward - Parameter to modify

Returns:

Itself

withSlot

public DynamicMotionMagicTorqueCurrentFOC withSlot(int newSlot)

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

Parameters:

newSlot - Parameter to modify

Returns:

Itself

withOverrideCoastDurNeutral

public DynamicMotionMagicTorqueCurrentFOC withOverrideCoastDurNeutral(boolean newOverrideCoastDurNeutral)

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

Parameters:

newOverrideCoastDurNeutral - Parameter to modify

Returns:

Itself

withUpdateFreqHz

public DynamicMotionMagicTorqueCurrentFOC 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