Table of Contents

Class DynamicMotionMagicExpoTorqueCurrentFOC

Namespace
CTRE.Phoenix6.Controls
Assembly
Phoenix6.Hardware.dll

Requires Phoenix Pro and CANivore; Requests Motion Magic® Expo to target a final position using an exponential motion profile. This dynamic request allows runtime changes to the profile kV, kA, and (optional) Cruise Velocity. Users can optionally provide a torque current feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the specified Cruise Velocity (optional) and the mechanism kV and kA. Note that unlike the slot gains, the Expo_kV and Expo_kA parameters are always in output units of Volts.

Setting the Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator. 
public sealed class DynamicMotionMagicExpoTorqueCurrentFOC : ControlRequest, ICloneable
Inheritance
DynamicMotionMagicExpoTorqueCurrentFOC
Implements
Inherited Members

Constructors

DynamicMotionMagicExpoTorqueCurrentFOC(double, double, double)

Requires Phoenix Pro and CANivore; Requests Motion Magic® Expo to target a final position using an exponential motion profile. This dynamic request allows runtime changes to the profile kV, kA, and (optional) Cruise Velocity. Users can optionally provide a torque current feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the specified Cruise Velocity (optional) and the mechanism kV and kA. Note that unlike the slot gains, the Expo_kV and Expo_kA parameters are always in output units of Volts.

Setting the Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator. Position to drive toward in rotations. Mechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.

This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity. Mechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².

This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration. 
public DynamicMotionMagicExpoTorqueCurrentFOC(double Position, double kV, double kA)

Parameters

Position double
kV double
kA double

Fields

FeedForward

Feedforward to apply in torque current in Amperes. This is added to the output of the onboard feedforward terms.

User can use motor's kT to scale Newton-meter to Amperes.
  • Units: A
public double FeedForward

Field Value

double

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

OverrideCoastDurNeutral

Set to true to coast 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 0A (zero torque).

public bool OverrideCoastDurNeutral

Field Value

bool

Position

Position to drive toward in rotations.

  • Units: rotations
public double Position

Field Value

double

Slot

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].

public int Slot

Field Value

int

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

Velocity

Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Setting this to 0 will allow the profile to run to the max possible velocity based on Expo_kV.

  • Units: rotations per second
public double Velocity

Field Value

double

kA

Mechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².

This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.
  • Units: V/rps²
public double kA

Field Value

double

kV

Mechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.

This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.
  • Units: V/rps
public double kV

Field Value

double

Properties

Name

Name of this control request.

public string Name { get; }

Property Value

string

Methods

Clone()

Creates a copy of this control request.

public DynamicMotionMagicExpoTorqueCurrentFOC Clone()

Returns

DynamicMotionMagicExpoTorqueCurrentFOC

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

WithFeedForward(double)

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

Feedforward to apply in torque current in Amperes. This is added to the output of the onboard feedforward terms.

User can use motor's kT to scale Newton-meter to Amperes.
  • Units: A
public DynamicMotionMagicExpoTorqueCurrentFOC WithFeedForward(double newFeedForward)

Parameters

newFeedForward double

Parameter to modify

Returns

DynamicMotionMagicExpoTorqueCurrentFOC

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 DynamicMotionMagicExpoTorqueCurrentFOC WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)

Parameters

newIgnoreHardwareLimits bool

Parameter to modify

Returns

DynamicMotionMagicExpoTorqueCurrentFOC

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 DynamicMotionMagicExpoTorqueCurrentFOC WithIgnoreSoftwareLimits(bool newIgnoreSoftwareLimits)

Parameters

newIgnoreSoftwareLimits bool

Parameter to modify

Returns

DynamicMotionMagicExpoTorqueCurrentFOC

Itself

WithKA(double)

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

Mechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².

This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.
  • Units: V/rps²
public DynamicMotionMagicExpoTorqueCurrentFOC WithKA(double newKA)

Parameters

newKA double

Parameter to modify

Returns

DynamicMotionMagicExpoTorqueCurrentFOC

Itself

WithKV(double)

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

Mechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.

This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.
  • Units: V/rps
public DynamicMotionMagicExpoTorqueCurrentFOC WithKV(double newKV)

Parameters

newKV double

Parameter to modify

Returns

DynamicMotionMagicExpoTorqueCurrentFOC

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 DynamicMotionMagicExpoTorqueCurrentFOC WithLimitForwardMotion(bool newLimitForwardMotion)

Parameters

newLimitForwardMotion bool

Parameter to modify

Returns

DynamicMotionMagicExpoTorqueCurrentFOC

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 DynamicMotionMagicExpoTorqueCurrentFOC WithLimitReverseMotion(bool newLimitReverseMotion)

Parameters

newLimitReverseMotion bool

Parameter to modify

Returns

DynamicMotionMagicExpoTorqueCurrentFOC

Itself

WithOverrideCoastDurNeutral(bool)

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

Set to true to coast 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 0A (zero torque). 
public DynamicMotionMagicExpoTorqueCurrentFOC WithOverrideCoastDurNeutral(bool newOverrideCoastDurNeutral)

Parameters

newOverrideCoastDurNeutral bool

Parameter to modify

Returns

DynamicMotionMagicExpoTorqueCurrentFOC

Itself

WithPosition(double)

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

Position to drive toward in rotations.
  • Units: rotations
public DynamicMotionMagicExpoTorqueCurrentFOC WithPosition(double newPosition)

Parameters

newPosition double

Parameter to modify

Returns

DynamicMotionMagicExpoTorqueCurrentFOC

Itself

WithSlot(int)

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]. 
public DynamicMotionMagicExpoTorqueCurrentFOC WithSlot(int newSlot)

Parameters

newSlot int

Parameter to modify

Returns

DynamicMotionMagicExpoTorqueCurrentFOC

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 DynamicMotionMagicExpoTorqueCurrentFOC WithUpdateFreqHz(double newUpdateFreqHz)

Parameters

newUpdateFreqHz double

Parameter to modify

Returns

DynamicMotionMagicExpoTorqueCurrentFOC

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 DynamicMotionMagicExpoTorqueCurrentFOC WithUseTimesync(bool newUseTimesync)

Parameters

newUseTimesync bool

Parameter to modify

Returns

DynamicMotionMagicExpoTorqueCurrentFOC

Itself

WithVelocity(double)

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

Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Setting this to 0 will allow the profile to run to the max possible velocity based on Expo_kV.
  • Units: rotations per second
public DynamicMotionMagicExpoTorqueCurrentFOC WithVelocity(double newVelocity)

Parameters

newVelocity double

Parameter to modify

Returns

DynamicMotionMagicExpoTorqueCurrentFOC

Itself