Package com.ctre.phoenix6.controls.compound

Class Diff_MotionMagicTorqueCurrentFOC_PositionTorqueCurrentFOC

java.lang.Object

com.ctre.phoenix6.controls.ControlRequest

com.ctre.phoenix6.controls.compound.Diff_MotionMagicTorqueCurrentFOC_PositionTorqueCurrentFOC

public class Diff_MotionMagicTorqueCurrentFOC_PositionTorqueCurrentFOC
extends ControlRequest

Requires Phoenix Pro; Differential control with Motion Magic® average target and position difference target using torque current control.

Field Summary

Fields

Modifier and Type	Field	Description
MotionMagicTorqueCurrentFOC	AverageRequest	Average MotionMagicTorqueCurrentFOC request of the mechanism.
double	configTimeout	The timeout when sending configs associated with this control
PositionTorqueCurrentFOC	DifferentialRequest	Differential PositionTorqueCurrentFOC request of the mechanism.
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
Diff_MotionMagicTorqueCurrentFOC_PositionTorqueCurrentFOC(MotionMagicTorqueCurrentFOC AverageRequest, PositionTorqueCurrentFOC DifferentialRequest)	Requires Phoenix Pro; Differential control with Motion Magic® average target and position difference target using torque current control.

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()
Diff_MotionMagicTorqueCurrentFOC_PositionTorqueCurrentFOC	withAverageRequest(MotionMagicTorqueCurrentFOC newAverageRequest)	Modifies this Control Request's AverageRequest parameter and returns itself for method-chaining and easier to use request API.
Diff_MotionMagicTorqueCurrentFOC_PositionTorqueCurrentFOC	withDifferentialRequest(PositionTorqueCurrentFOC newDifferentialRequest)	Modifies this Control Request's DifferentialRequest parameter and returns itself for method-chaining and easier to use request API.
Diff_MotionMagicTorqueCurrentFOC_PositionTorqueCurrentFOC	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

AverageRequest

public MotionMagicTorqueCurrentFOC AverageRequest

Average MotionMagicTorqueCurrentFOC request of the mechanism.

DifferentialRequest

public PositionTorqueCurrentFOC DifferentialRequest

Differential PositionTorqueCurrentFOC request of the mechanism.

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

Diff_MotionMagicTorqueCurrentFOC_PositionTorqueCurrentFOC

public Diff_MotionMagicTorqueCurrentFOC_PositionTorqueCurrentFOC(MotionMagicTorqueCurrentFOC AverageRequest, PositionTorqueCurrentFOC DifferentialRequest)

Requires Phoenix Pro; Differential control with Motion Magic® average target and position difference target using torque current control.

Parameters:

AverageRequest - Average MotionMagicTorqueCurrentFOC request of the mechanism.

DifferentialRequest - Differential PositionTorqueCurrentFOC request of the mechanism.

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

withAverageRequest

public Diff_MotionMagicTorqueCurrentFOC_PositionTorqueCurrentFOC withAverageRequest(MotionMagicTorqueCurrentFOC newAverageRequest)

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

Parameters:

newAverageRequest - Parameter to modify

Returns:

Itself

withDifferentialRequest

public Diff_MotionMagicTorqueCurrentFOC_PositionTorqueCurrentFOC withDifferentialRequest(PositionTorqueCurrentFOC newDifferentialRequest)

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

Parameters:

newDifferentialRequest - Parameter to modify

Returns:

Itself

withUpdateFreqHz

public Diff_MotionMagicTorqueCurrentFOC_PositionTorqueCurrentFOC 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