Class DifferentialVoltage

Namespace

CTRE.Phoenix6.Controls

Assembly

Phoenix6.Hardware.dll

Request a specified voltage with a differential position closed-loop.

This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage. It will also set the motor's differential position setpoint to the specified position.

public sealed class DifferentialVoltage : ControlRequest, ICloneable

Inheritance

object

DifferentialVoltage

Implements

ControlRequest

ICloneable

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.ReferenceEquals(object, object)

Constructors

DifferentialVoltage(double, double)

Request a specified voltage with a differential position closed-loop.

This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage. It will also set the motor's differential position setpoint to the specified position. Voltage to attempt to drive at on the Average axis. Differential position to drive towards in rotations.

public DifferentialVoltage(double AverageOutput, double DifferentialPosition)

Parameters

AverageOutput double

DifferentialPosition double

Fields

AverageOutput

Voltage to attempt to drive at on the Average axis.

• Units: Volts

public double AverageOutput

Field Value

double

DifferentialPosition

Differential position to drive towards 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 DifferentialVoltage Clone()

Returns

DifferentialVoltage

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

WithAverageOutput(double)

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

Voltage to attempt to drive at on the Average axis.

• Units: Volts

public DifferentialVoltage WithAverageOutput(double newAverageOutput)

Parameters

newAverageOutput double

Parameter to modify

Returns

DifferentialVoltage

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 towards in rotations.

• Units: rotations

public DifferentialVoltage WithDifferentialPosition(double newDifferentialPosition)

Parameters

newDifferentialPosition double

Parameter to modify

Returns

DifferentialVoltage

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 DifferentialVoltage WithDifferentialSlot(int newDifferentialSlot)

Parameters

newDifferentialSlot int

Parameter to modify

Returns

DifferentialVoltage

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 DifferentialVoltage WithEnableFOC(bool newEnableFOC)

Parameters

newEnableFOC bool

Parameter to modify

Returns

DifferentialVoltage

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 DifferentialVoltage WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)

Parameters

newIgnoreHardwareLimits bool

Parameter to modify

Returns

DifferentialVoltage

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 DifferentialVoltage WithIgnoreSoftwareLimits(bool newIgnoreSoftwareLimits)

Parameters

newIgnoreSoftwareLimits bool

Parameter to modify

Returns

DifferentialVoltage

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 DifferentialVoltage WithLimitForwardMotion(bool newLimitForwardMotion)

Parameters

newLimitForwardMotion bool

Parameter to modify

Returns

DifferentialVoltage

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 DifferentialVoltage WithLimitReverseMotion(bool newLimitReverseMotion)

Parameters

newLimitReverseMotion bool

Parameter to modify

Returns

DifferentialVoltage

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 DifferentialVoltage WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)

Parameters

newOverrideBrakeDurNeutral bool

Parameter to modify

Returns

DifferentialVoltage

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 DifferentialVoltage WithUpdateFreqHz(double newUpdateFreqHz)

Parameters

newUpdateFreqHz double

Parameter to modify

Returns

DifferentialVoltage

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 DifferentialVoltage WithUseTimesync(bool newUseTimesync)

Parameters

newUseTimesync bool

Parameter to modify

Returns

DifferentialVoltage

Itself