Class TorqueCurrentFOC

Namespace

CTRE.Phoenix6.Controls

Assembly

Phoenix6.Hardware.dll

Requires Phoenix Pro; Request a specified motor current (field oriented control).

This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.

public sealed class TorqueCurrentFOC : ControlRequest, ICloneable

Inheritance

object

TorqueCurrentFOC

Implements

ControlRequest

ICloneable

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.ReferenceEquals(object, object)

Constructors

TorqueCurrentFOC(double)

Requires Phoenix Pro; Request a specified motor current (field oriented control).

This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant. Amount of motor current in Amperes

public TorqueCurrentFOC(double Output)

Parameters

Output double

Fields

Deadband

Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.

• Units: A

public double Deadband

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

MaxAbsDutyCycle

The maximum absolute motor output that can be applied, which effectively limits the velocity. For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one.

• Units: fractional

public double MaxAbsDutyCycle

Field Value

double

Output

Amount of motor current in Amperes

• Units: A

public double Output

Field Value

double

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

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 TorqueCurrentFOC Clone()

Returns

TorqueCurrentFOC

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

WithDeadband(double)

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

Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.

• Units: A

public TorqueCurrentFOC WithDeadband(double newDeadband)

Parameters

newDeadband double

Parameter to modify

Returns

TorqueCurrentFOC

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 TorqueCurrentFOC WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)

Parameters

newIgnoreHardwareLimits bool

Parameter to modify

Returns

TorqueCurrentFOC

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 TorqueCurrentFOC WithIgnoreSoftwareLimits(bool newIgnoreSoftwareLimits)

Parameters

newIgnoreSoftwareLimits bool

Parameter to modify

Returns

TorqueCurrentFOC

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 TorqueCurrentFOC WithLimitForwardMotion(bool newLimitForwardMotion)

Parameters

newLimitForwardMotion bool

Parameter to modify

Returns

TorqueCurrentFOC

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 TorqueCurrentFOC WithLimitReverseMotion(bool newLimitReverseMotion)

Parameters

newLimitReverseMotion bool

Parameter to modify

Returns

TorqueCurrentFOC

Itself

WithMaxAbsDutyCycle(double)

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

The maximum absolute motor output that can be applied, which effectively limits the velocity. For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one.

• Units: fractional

public TorqueCurrentFOC WithMaxAbsDutyCycle(double newMaxAbsDutyCycle)

Parameters

newMaxAbsDutyCycle double

Parameter to modify

Returns

TorqueCurrentFOC

Itself

WithOutput(double)

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

Amount of motor current in Amperes

• Units: A

public TorqueCurrentFOC WithOutput(double newOutput)

Parameters

newOutput double

Parameter to modify

Returns

TorqueCurrentFOC

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 TorqueCurrentFOC WithOverrideCoastDurNeutral(bool newOverrideCoastDurNeutral)

Parameters

newOverrideCoastDurNeutral bool

Parameter to modify

Returns

TorqueCurrentFOC

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 TorqueCurrentFOC WithUpdateFreqHz(double newUpdateFreqHz)

Parameters

newUpdateFreqHz double

Parameter to modify

Returns

TorqueCurrentFOC

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 TorqueCurrentFOC WithUseTimesync(bool newUseTimesync)

Parameters

newUseTimesync bool

Parameter to modify

Returns

TorqueCurrentFOC

Itself