Class Diff_VelocityDutyCycle_PositionDutyCycle
java.lang.Object
com.ctre.phoenix6.controls.ControlRequest
com.ctre.phoenix6.controls.compound.Diff_VelocityDutyCycle_PositionDutyCycle
public class Diff_VelocityDutyCycle_PositionDutyCycle extends ControlRequest
Requires Phoenix Pro;
Differential control with velocity average target and position difference
target using dutycycle control.
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Field Summary
Fields Modifier and Type Field Description VelocityDutyCycle
AverageRequest
Average VelocityDutyCYcle request of the mechanism.double
configTimeout
The timeout when sending configs associated with this controlPositionDutyCycle
DifferentialRequest
Differential PositionDutyCycle request of the mechanism.double
UpdateFreqHz
The period at which this control will update at. -
Constructor Summary
Constructors Constructor Description Diff_VelocityDutyCycle_PositionDutyCycle(VelocityDutyCycle AverageRequest, PositionDutyCycle DifferentialRequest)
Requires Phoenix Pro; Differential control with velocity average target and position difference target using dutycycle 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_VelocityDutyCycle_PositionDutyCycle
withAverageRequest(VelocityDutyCycle newAverageRequest)
Modifies this Control Request's AverageRequest parameter and returns itself for method-chaining and easier to use request API.Diff_VelocityDutyCycle_PositionDutyCycle
withDifferentialRequest(PositionDutyCycle newDifferentialRequest)
Modifies this Control Request's DifferentialRequest parameter and returns itself for method-chaining and easier to use request API.Diff_VelocityDutyCycle_PositionDutyCycle
withUpdateFreqHz(double newUpdateFreqHz)
Sets the period at which this control will update at.
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Field Details
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AverageRequest
Average VelocityDutyCYcle request of the mechanism. -
DifferentialRequest
Differential PositionDutyCycle request of the mechanism. -
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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Diff_VelocityDutyCycle_PositionDutyCycle
public Diff_VelocityDutyCycle_PositionDutyCycle(VelocityDutyCycle AverageRequest, PositionDutyCycle DifferentialRequest)Requires Phoenix Pro; Differential control with velocity average target and position difference target using dutycycle control.- Parameters:
AverageRequest
- Average VelocityDutyCYcle request of the mechanism.DifferentialRequest
- Differential PositionDutyCycle request of the mechanism.
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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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withAverageRequest
public Diff_VelocityDutyCycle_PositionDutyCycle withAverageRequest(VelocityDutyCycle 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
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withDifferentialRequest
public Diff_VelocityDutyCycle_PositionDutyCycle withDifferentialRequest(PositionDutyCycle 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
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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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