Class DifferentialMotionMagicVelocityDutyCycle

Namespace

CTRE.Phoenix6.Controls

Assembly

Phoenix6.Hardware.dll

Requests Motion Magic® to target a final velocity using a motion profile, and PID to a differential position setpoint. This allows smooth transitions between velocity set points.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

Acceleration and jerk are specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile.

Target velocity can also 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.

public sealed class DifferentialMotionMagicVelocityDutyCycle : ControlRequest, ICloneable

Inheritance

object

DifferentialMotionMagicVelocityDutyCycle

Implements

ControlRequest

ICloneable

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.ReferenceEquals(object, object)

Constructors

DifferentialMotionMagicVelocityDutyCycle(double, double)

Requests Motion Magic® to target a final velocity using a motion profile, and PID to a differential position setpoint. This allows smooth transitions between velocity set points.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

Acceleration and jerk are specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile.

Target velocity can also 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. Average velocity to drive toward in rotations per second. Differential position to drive toward in rotations.

public DifferentialMotionMagicVelocityDutyCycle(double AverageVelocity, double DifferentialPosition)

Parameters

AverageVelocity double

DifferentialPosition double

Fields

AverageSlot

Select which gains are applied to the average 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].

public int AverageSlot

Field Value

int

AverageVelocity

Average velocity to drive toward in rotations per second.

• Units: rotations per second

public double AverageVelocity

Field Value

double

DifferentialPosition

Differential position to drive toward in rotations.

• Units: rotations

public double DifferentialPosition

Field Value

double

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].

public int DifferentialSlot

Field Value

int

EnableFOC

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

public bool EnableFOC

Field Value

bool

IgnoreHardwareLimits

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.

public bool IgnoreHardwareLimits

Field Value

bool

IgnoreSoftwareLimits

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.

public bool IgnoreSoftwareLimits

Field Value

bool

LimitForwardMotion

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.

public bool LimitForwardMotion

Field Value

bool

LimitReverseMotion

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.

public bool LimitReverseMotion

Field Value

bool

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.

public bool OverrideBrakeDurNeutral

Field Value

bool

UpdateFreqHz

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.

public double UpdateFreqHz

Field Value

double

UseTimesync

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.

public bool UseTimesync

Field Value

bool

Properties

Name

Name of this control request.

public string Name { get; }

Property Value

string

Methods

Clone()

Creates a copy of this control request.

public DifferentialMotionMagicVelocityDutyCycle Clone()

Returns

DifferentialMotionMagicVelocityDutyCycle

GetControlInfo()

Gets information about this control request.

public Dictionary<string, string> GetControlInfo()

Returns

Dictionary<string, string>

Dictionary of control parameter names and corresponding applied values

SendRequest(string, uint)

Sends this request out over CAN bus to the device for the device to apply.

public StatusCode SendRequest(string network, uint deviceHash)

Parameters

network string

Network to send request over

deviceHash uint

Device to send request to

Returns

StatusCode

Status of the send operation

ToString()

Provides the string representation of this object.

public override string ToString()

Returns

string

WithAverageSlot(int)

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

Select which gains are applied to the average 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].

public DifferentialMotionMagicVelocityDutyCycle WithAverageSlot(int newAverageSlot)

Parameters

newAverageSlot int

Parameter to modify

Returns

DifferentialMotionMagicVelocityDutyCycle

Itself

WithAverageVelocity(double)

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

Average velocity to drive toward in rotations per second.

• Units: rotations per second

public DifferentialMotionMagicVelocityDutyCycle WithAverageVelocity(double newAverageVelocity)

Parameters

newAverageVelocity double

Parameter to modify

Returns

DifferentialMotionMagicVelocityDutyCycle

Itself

WithDifferentialPosition(double)

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

Differential position to drive toward in rotations.

• Units: rotations

public DifferentialMotionMagicVelocityDutyCycle WithDifferentialPosition(double newDifferentialPosition)

Parameters

newDifferentialPosition double

Parameter to modify

Returns

DifferentialMotionMagicVelocityDutyCycle

Itself

WithDifferentialSlot(int)

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

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].

public DifferentialMotionMagicVelocityDutyCycle WithDifferentialSlot(int newDifferentialSlot)

Parameters

newDifferentialSlot int

Parameter to modify

Returns

DifferentialMotionMagicVelocityDutyCycle

Itself

WithEnableFOC(bool)

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 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.

public DifferentialMotionMagicVelocityDutyCycle WithEnableFOC(bool newEnableFOC)

Parameters

newEnableFOC bool

Parameter to modify

Returns

DifferentialMotionMagicVelocityDutyCycle

Itself

WithIgnoreHardwareLimits(bool)

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.

public DifferentialMotionMagicVelocityDutyCycle WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)

Parameters

newIgnoreHardwareLimits bool

Parameter to modify

Returns

DifferentialMotionMagicVelocityDutyCycle

Itself

WithIgnoreSoftwareLimits(bool)

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.

public DifferentialMotionMagicVelocityDutyCycle WithIgnoreSoftwareLimits(bool newIgnoreSoftwareLimits)

Parameters

newIgnoreSoftwareLimits bool

Parameter to modify

Returns

DifferentialMotionMagicVelocityDutyCycle

Itself

WithLimitForwardMotion(bool)

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.

public DifferentialMotionMagicVelocityDutyCycle WithLimitForwardMotion(bool newLimitForwardMotion)

Parameters

newLimitForwardMotion bool

Parameter to modify

Returns

DifferentialMotionMagicVelocityDutyCycle

Itself

WithLimitReverseMotion(bool)

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.

public DifferentialMotionMagicVelocityDutyCycle WithLimitReverseMotion(bool newLimitReverseMotion)

Parameters

newLimitReverseMotion bool

Parameter to modify

Returns

DifferentialMotionMagicVelocityDutyCycle

Itself

WithOverrideBrakeDurNeutral(bool)

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.

public DifferentialMotionMagicVelocityDutyCycle WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)

Parameters

newOverrideBrakeDurNeutral bool

Parameter to modify

Returns

DifferentialMotionMagicVelocityDutyCycle

Itself

WithUpdateFreqHz(double)

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.

public DifferentialMotionMagicVelocityDutyCycle WithUpdateFreqHz(double newUpdateFreqHz)

Parameters

newUpdateFreqHz double

Parameter to modify

Returns

DifferentialMotionMagicVelocityDutyCycle

Itself

WithUseTimesync(bool)

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.

public DifferentialMotionMagicVelocityDutyCycle WithUseTimesync(bool newUseTimesync)

Parameters

newUseTimesync bool

Parameter to modify

Returns

DifferentialMotionMagicVelocityDutyCycle

Itself