Request PID to target velocity with duty cycle feedforward. More...

#include <ctre/phoenix6/controls/VelocityDutyCycle.hpp>

Inheritance diagram for ctre::phoenix6::controls::VelocityDutyCycle:

Public Member Functions
constexpr	VelocityDutyCycle (units::angular_velocity::turns_per_second_t Velocity)
	Request PID to target velocity with duty cycle feedforward.

constexpr	~VelocityDutyCycle () override

constexpr std::string_view	GetName () const override
	Gets the name of this control request.

constexpr VelocityDutyCycle &	WithVelocity (units::angular_velocity::turns_per_second_t newVelocity)
	Modifies this Control Request's Velocity parameter and returns itself for method-chaining and easier to use request API.

constexpr VelocityDutyCycle &	WithAcceleration (units::angular_acceleration::turns_per_second_squared_t newAcceleration)
	Modifies this Control Request's Acceleration parameter and returns itself for method-chaining and easier to use request API.

constexpr VelocityDutyCycle &	WithEnableFOC (bool newEnableFOC)
	Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.

constexpr VelocityDutyCycle &	WithFeedForward (units::dimensionless::scalar_t newFeedForward)
	Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.

constexpr VelocityDutyCycle &	WithSlot (int newSlot)
	Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API.

constexpr VelocityDutyCycle &	WithOverrideBrakeDurNeutral (bool newOverrideBrakeDurNeutral)
	Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.

constexpr VelocityDutyCycle &	WithLimitForwardMotion (bool newLimitForwardMotion)
	Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API.

constexpr VelocityDutyCycle &	WithLimitReverseMotion (bool newLimitReverseMotion)
	Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API.

constexpr VelocityDutyCycle &	WithIgnoreHardwareLimits (bool newIgnoreHardwareLimits)
	Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining and easier to use request API.

constexpr VelocityDutyCycle &	WithIgnoreSoftwareLimits (bool newIgnoreSoftwareLimits)
	Modifies this Control Request's IgnoreSoftwareLimits parameter and returns itself for method-chaining and easier to use request API.

constexpr VelocityDutyCycle &	WithUseTimesync (bool newUseTimesync)
	Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easier to use request API.

constexpr VelocityDutyCycle &	WithUpdateFreqHz (units::frequency::hertz_t newUpdateFreqHz)
	Sets the frequency at which this control will update.

std::string	ToString () const override
	Returns a string representation of the object.

std::map< std::string, std::string >	GetControlInfo () const override
	Gets information about this control request.

Public Member Functions inherited from ctre::phoenix6::controls::ControlRequest
constexpr	ControlRequest ()=default
	Constructs a new Control Request.

virtual constexpr	~ControlRequest ()

Public Attributes
units::angular_velocity::turns_per_second_t	Velocity
	Velocity to drive toward in rotations per second.

units::angular_acceleration::turns_per_second_squared_t	Acceleration = 0.0_tr_per_s_sq
	Acceleration to drive toward in rotations per second squared.

bool	EnableFOC = true
	Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC).

units::dimensionless::scalar_t	FeedForward = 0.0
	Feedforward to apply in fractional units between -1 and +1.

int	Slot = 0
	Select which gains are applied by selecting the slot.

bool	OverrideBrakeDurNeutral = false
	Set to true to static-brake the rotor when output is zero (or within deadband).

bool	LimitForwardMotion = false
	Set to true to force forward limiting.

bool	LimitReverseMotion = false
	Set to true to force reverse limiting.

bool	IgnoreHardwareLimits = false
	Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

bool	IgnoreSoftwareLimits = false
	Set to true to ignore software limits, instead allowing motion.

bool	UseTimesync = false
	Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore).

units::frequency::hertz_t	UpdateFreqHz {100_Hz}
	The frequency at which this control will update.

Additional Inherited Members
Protected Member Functions inherited from ctre::phoenix6::controls::ControlRequest
constexpr	ControlRequest (ControlRequest const &)=default

constexpr	ControlRequest (ControlRequest &&)=default

constexpr ControlRequest &	operator= (ControlRequest const &)=default

constexpr ControlRequest &	operator= (ControlRequest &&)=default

Detailed Description

Request PID to target velocity with duty cycle feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

Constructor & Destructor Documentation

◆ VelocityDutyCycle()

ctre::phoenix6::controls::VelocityDutyCycle::VelocityDutyCycle ( units::angular_velocity::turns_per_second_t Velocity )

inlineconstexpr

Request PID to target velocity with duty cycle feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

Parameters

Velocity Velocity to drive toward in rotations per second.

◆ ~VelocityDutyCycle()

ctre::phoenix6::controls::VelocityDutyCycle::~VelocityDutyCycle ( )

inlineconstexproverride

Member Function Documentation

◆ GetControlInfo()

std::map< std::string, std::string > ctre::phoenix6::controls::VelocityDutyCycle::GetControlInfo ( ) const

overridevirtual

Gets information about this control request.

Returns: Map of control parameter names and corresponding applied values

Implements ctre::phoenix6::controls::ControlRequest.

◆ GetName()

std::string_view ctre::phoenix6::controls::VelocityDutyCycle::GetName ( ) const

inlineconstexproverridevirtual

Gets the name of this control request.

Returns: Name of the control request

Implements ctre::phoenix6::controls::ControlRequest.

◆ ToString()

std::string ctre::phoenix6::controls::VelocityDutyCycle::ToString ( ) const

overridevirtual

Returns a string representation of the object.

Returns: a string representation of the object.

Implements ctre::phoenix6::controls::ControlRequest.

◆ WithAcceleration()

VelocityDutyCycle & ctre::phoenix6::controls::VelocityDutyCycle::WithAcceleration ( units::angular_acceleration::turns_per_second_squared_t newAcceleration )

inlineconstexpr

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

Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.

Units: rotations per second²

Parameters

newAcceleration Parameter to modify

Returns: Itself

◆ WithEnableFOC()

VelocityDutyCycle & ctre::phoenix6::controls::VelocityDutyCycle::WithEnableFOC ( bool newEnableFOC )

inlineconstexpr

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

Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). 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.

Parameters

newEnableFOC Parameter to modify

Returns: Itself

◆ WithFeedForward()

VelocityDutyCycle & ctre::phoenix6::controls::VelocityDutyCycle::WithFeedForward ( units::dimensionless::scalar_t newFeedForward )

inlineconstexpr

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

Feedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.

Units: fractional

Parameters

newFeedForward Parameter to modify

Returns: Itself

◆ WithIgnoreHardwareLimits()

VelocityDutyCycle & ctre::phoenix6::controls::VelocityDutyCycle::WithIgnoreHardwareLimits ( bool newIgnoreHardwareLimits )

inlineconstexpr

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

Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

Parameters

newIgnoreHardwareLimits Parameter to modify

Returns: Itself

◆ WithIgnoreSoftwareLimits()

VelocityDutyCycle & ctre::phoenix6::controls::VelocityDutyCycle::WithIgnoreSoftwareLimits ( bool newIgnoreSoftwareLimits )

inlineconstexpr

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

Set to true to ignore software limits, instead allowing motion.

This can be useful when calibrating the zero point of a mechanism such as an elevator.

The software limit faults will still report the values of the software limits regardless of this parameter.

Parameters

newIgnoreSoftwareLimits Parameter to modify

Returns: Itself

◆ WithLimitForwardMotion()

VelocityDutyCycle & ctre::phoenix6::controls::VelocityDutyCycle::WithLimitForwardMotion ( bool newLimitForwardMotion )

inlineconstexpr

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

Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

newLimitForwardMotion Parameter to modify

Returns: Itself

◆ WithLimitReverseMotion()

VelocityDutyCycle & ctre::phoenix6::controls::VelocityDutyCycle::WithLimitReverseMotion ( bool newLimitReverseMotion )

inlineconstexpr

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

Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters

newLimitReverseMotion Parameter to modify

Returns: Itself

◆ WithOverrideBrakeDurNeutral()

VelocityDutyCycle & ctre::phoenix6::controls::VelocityDutyCycle::WithOverrideBrakeDurNeutral ( bool newOverrideBrakeDurNeutral )

inlineconstexpr

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

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.

Parameters

newOverrideBrakeDurNeutral Parameter to modify

Returns: Itself

◆ WithSlot()

VelocityDutyCycle & ctre::phoenix6::controls::VelocityDutyCycle::WithSlot ( int newSlot )

inlineconstexpr

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

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].

Parameters

newSlot Parameter to modify

Returns: Itself

◆ WithUpdateFreqHz()

VelocityDutyCycle & ctre::phoenix6::controls::VelocityDutyCycle::WithUpdateFreqHz ( units::frequency::hertz_t newUpdateFreqHz )

inlineconstexpr

Sets the frequency at which this control will update.

This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

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

◆ WithUseTimesync()

VelocityDutyCycle & ctre::phoenix6::controls::VelocityDutyCycle::WithUseTimesync ( bool newUseTimesync )

inlineconstexpr

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

Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

newUseTimesync Parameter to modify

Returns: Itself

◆ WithVelocity()

VelocityDutyCycle & ctre::phoenix6::controls::VelocityDutyCycle::WithVelocity ( units::angular_velocity::turns_per_second_t newVelocity )

inlineconstexpr

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

Velocity to drive toward in rotations per second.

Units: rotations per second

Parameters

newVelocity Parameter to modify

Returns: Itself

Member Data Documentation

◆ Acceleration

units::angular_acceleration::turns_per_second_squared_t ctre::phoenix6::controls::VelocityDutyCycle::Acceleration = 0.0_tr_per_s_sq

Acceleration to drive toward in rotations per second squared.

This is typically used for motion profiles generated by the robot program.

Units: rotations per second²

◆ EnableFOC

bool ctre::phoenix6::controls::VelocityDutyCycle::EnableFOC = true

Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC).

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.

◆ FeedForward

units::dimensionless::scalar_t ctre::phoenix6::controls::VelocityDutyCycle::FeedForward = 0.0

Feedforward to apply in fractional units between -1 and +1.

This is added to the output of the onboard feedforward terms.

Units: fractional

◆ IgnoreHardwareLimits

bool ctre::phoenix6::controls::VelocityDutyCycle::IgnoreHardwareLimits = false

Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

◆ IgnoreSoftwareLimits

bool ctre::phoenix6::controls::VelocityDutyCycle::IgnoreSoftwareLimits = false

Set to true to ignore software limits, instead allowing motion.

This can be useful when calibrating the zero point of a mechanism such as an elevator.

The software limit faults will still report the values of the software limits regardless of this parameter.

◆ LimitForwardMotion

bool ctre::phoenix6::controls::VelocityDutyCycle::LimitForwardMotion = false

Set to true to force forward limiting.

This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

◆ LimitReverseMotion

bool ctre::phoenix6::controls::VelocityDutyCycle::LimitReverseMotion = false

Set to true to force reverse limiting.

This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

◆ OverrideBrakeDurNeutral

bool ctre::phoenix6::controls::VelocityDutyCycle::OverrideBrakeDurNeutral = false

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.

◆ Slot

int ctre::phoenix6::controls::VelocityDutyCycle::Slot = 0

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].

◆ UpdateFreqHz

units::frequency::hertz_t ctre::phoenix6::controls::VelocityDutyCycle::UpdateFreqHz {100_Hz}

The frequency at which this control will update.

This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

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.

◆ UseTimesync

bool ctre::phoenix6::controls::VelocityDutyCycle::UseTimesync = false

Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore).

This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

◆ Velocity

units::angular_velocity::turns_per_second_t ctre::phoenix6::controls::VelocityDutyCycle::Velocity

Velocity to drive toward in rotations per second.

Units: rotations per second

The documentation for this class was generated from the following file:

ctre/phoenix6/controls/VelocityDutyCycle.hpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VelocityDutyCycle()

◆ ~VelocityDutyCycle()

Member Function Documentation

◆ GetControlInfo()

◆ GetName()

◆ ToString()

◆ WithAcceleration()

◆ WithEnableFOC()

◆ WithFeedForward()

◆ WithIgnoreHardwareLimits()

◆ WithIgnoreSoftwareLimits()

◆ WithLimitForwardMotion()

◆ WithLimitReverseMotion()

◆ WithOverrideBrakeDurNeutral()

◆ WithSlot()

◆ WithUpdateFreqHz()

◆ WithUseTimesync()

◆ WithVelocity()

Member Data Documentation

◆ Acceleration

◆ EnableFOC

◆ FeedForward

◆ IgnoreHardwareLimits

◆ IgnoreSoftwareLimits

◆ LimitForwardMotion

◆ LimitReverseMotion

◆ OverrideBrakeDurNeutral

◆ Slot

◆ UpdateFreqHz

◆ UseTimesync

◆ Velocity