Class DynamicMotionMagicExpoVoltage

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 voltage 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 voltage-based, so relevant closed-loop gains will use Volts for the numerator.

public sealed class DynamicMotionMagicExpoVoltage : ControlRequest, ICloneable

Inheritance

object

DynamicMotionMagicExpoVoltage

Implements

ControlRequest

ICloneable

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.ReferenceEquals(object, object)

Constructors

DynamicMotionMagicExpoVoltage(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 voltage 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 voltage-based, so relevant closed-loop gains will use Volts 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 DynamicMotionMagicExpoVoltage(double Position, double kV, double kA)

Parameters

Position double

kV double

kA double

Fields

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

FeedForward

Feedforward to apply in volts. This is added to the output of the onboard feedforward terms.

• Units: Volts

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

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

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 DynamicMotionMagicExpoVoltage Clone()

Returns

DynamicMotionMagicExpoVoltage

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

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 DynamicMotionMagicExpoVoltage WithEnableFOC(bool newEnableFOC)

Parameters

newEnableFOC bool

Parameter to modify

Returns

DynamicMotionMagicExpoVoltage

Itself

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

• Units: Volts

public DynamicMotionMagicExpoVoltage WithFeedForward(double newFeedForward)

Parameters

newFeedForward double

Parameter to modify

Returns

DynamicMotionMagicExpoVoltage

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 DynamicMotionMagicExpoVoltage WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)

Parameters

newIgnoreHardwareLimits bool

Parameter to modify

Returns

DynamicMotionMagicExpoVoltage

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 DynamicMotionMagicExpoVoltage WithIgnoreSoftwareLimits(bool newIgnoreSoftwareLimits)

Parameters

newIgnoreSoftwareLimits bool

Parameter to modify

Returns

DynamicMotionMagicExpoVoltage

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 DynamicMotionMagicExpoVoltage WithKA(double newKA)

Parameters

newKA double

Parameter to modify

Returns

DynamicMotionMagicExpoVoltage

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 DynamicMotionMagicExpoVoltage WithKV(double newKV)

Parameters

newKV double

Parameter to modify

Returns

DynamicMotionMagicExpoVoltage

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 DynamicMotionMagicExpoVoltage WithLimitForwardMotion(bool newLimitForwardMotion)

Parameters

newLimitForwardMotion bool

Parameter to modify

Returns

DynamicMotionMagicExpoVoltage

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 DynamicMotionMagicExpoVoltage WithLimitReverseMotion(bool newLimitReverseMotion)

Parameters

newLimitReverseMotion bool

Parameter to modify

Returns

DynamicMotionMagicExpoVoltage

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 DynamicMotionMagicExpoVoltage WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)

Parameters

newOverrideBrakeDurNeutral bool

Parameter to modify

Returns

DynamicMotionMagicExpoVoltage

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 DynamicMotionMagicExpoVoltage WithPosition(double newPosition)

Parameters

newPosition double

Parameter to modify

Returns

DynamicMotionMagicExpoVoltage

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 DynamicMotionMagicExpoVoltage WithSlot(int newSlot)

Parameters

newSlot int

Parameter to modify

Returns

DynamicMotionMagicExpoVoltage

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 DynamicMotionMagicExpoVoltage WithUpdateFreqHz(double newUpdateFreqHz)

Parameters

newUpdateFreqHz double

Parameter to modify

Returns

DynamicMotionMagicExpoVoltage

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 DynamicMotionMagicExpoVoltage WithUseTimesync(bool newUseTimesync)

Parameters

newUseTimesync bool

Parameter to modify

Returns

DynamicMotionMagicExpoVoltage

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 DynamicMotionMagicExpoVoltage WithVelocity(double newVelocity)

Parameters

newVelocity double

Parameter to modify

Returns

DynamicMotionMagicExpoVoltage

Itself