Interface SupportsFOC

Namespace

CTRE.Phoenix6.Hardware.Traits

Assembly

Phoenix6.Hardware.dll

Requires Phoenix Pro; Contains all FOC-exclusive control functions available for devices that support FOC.

public interface SupportsFOC : CommonDevice

Inherited Members

CommonDevice.DeviceID

CommonDevice.Network

CommonDevice.DeviceHash

CommonDevice.AppliedControl

CommonDevice.HasResetOccurred

CommonDevice.GetResetOccurredChecker()

CommonDevice.OptimizeBusUtilization(double, double)

CommonDevice.ResetSignalFrequencies(double)

Methods

SetControl(Diff_MotionMagicExpoTorqueCurrentFOC_Open)

Differential control with Motion Magic® Expo average target and torque current difference target.

Diff_MotionMagicExpoTorqueCurrentFOC_Open Parameters

• AverageRequestAverage MotionMagicExpoTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential TorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_MotionMagicExpoTorqueCurrentFOC_Open request)

Parameters

request Diff_MotionMagicExpoTorqueCurrentFOC_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicExpoTorqueCurrentFOC_Position)

Differential control with Motion Magic® Expo average target and position difference target using torque current control.

Diff_MotionMagicExpoTorqueCurrentFOC_Position Parameters

• AverageRequestAverage MotionMagicExpoTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential PositionTorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_MotionMagicExpoTorqueCurrentFOC_Position request)

Parameters

request Diff_MotionMagicExpoTorqueCurrentFOC_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicExpoTorqueCurrentFOC_Velocity)

Differential control with Motion Magic® Expo average target and velocity difference target using torque current control.

Diff_MotionMagicExpoTorqueCurrentFOC_Velocity Parameters

• AverageRequestAverage MotionMagicExpoTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential VelocityTorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_MotionMagicExpoTorqueCurrentFOC_Velocity request)

Parameters

request Diff_MotionMagicExpoTorqueCurrentFOC_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicTorqueCurrentFOC_Open)

Differential control with Motion Magic® average target and torque current difference target.

Diff_MotionMagicTorqueCurrentFOC_Open Parameters

• AverageRequestAverage MotionMagicTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential TorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_MotionMagicTorqueCurrentFOC_Open request)

Parameters

request Diff_MotionMagicTorqueCurrentFOC_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicTorqueCurrentFOC_Position)

Differential control with Motion Magic® average target and position difference target using torque current control.

Diff_MotionMagicTorqueCurrentFOC_Position Parameters

• AverageRequestAverage MotionMagicTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential PositionTorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_MotionMagicTorqueCurrentFOC_Position request)

Parameters

request Diff_MotionMagicTorqueCurrentFOC_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicTorqueCurrentFOC_Velocity)

Differential control with Motion Magic® average target and velocity difference target using torque current control.

Diff_MotionMagicTorqueCurrentFOC_Velocity Parameters

• AverageRequestAverage MotionMagicTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential VelocityTorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_MotionMagicTorqueCurrentFOC_Velocity request)

Parameters

request Diff_MotionMagicTorqueCurrentFOC_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicVelocityTorqueCurrentFOC_Open)

Differential control with Motion Magic® Velocity average target and torque current difference target.

Diff_MotionMagicVelocityTorqueCurrentFOC_Open Parameters

• AverageRequestAverage MotionMagicVelocityTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential TorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_MotionMagicVelocityTorqueCurrentFOC_Open request)

Parameters

request Diff_MotionMagicVelocityTorqueCurrentFOC_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicVelocityTorqueCurrentFOC_Position)

Differential control with Motion Magic® Velocity average target and position difference target using torque current control.

Diff_MotionMagicVelocityTorqueCurrentFOC_Position Parameters

• AverageRequestAverage MotionMagicVelocityTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential PositionTorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_MotionMagicVelocityTorqueCurrentFOC_Position request)

Parameters

request Diff_MotionMagicVelocityTorqueCurrentFOC_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_MotionMagicVelocityTorqueCurrentFOC_Velocity)

Differential control with Motion Magic® Velocity average target and velocity difference target using torque current control.

Diff_MotionMagicVelocityTorqueCurrentFOC_Velocity Parameters

• AverageRequestAverage MotionMagicVelocityTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential VelocityTorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_MotionMagicVelocityTorqueCurrentFOC_Velocity request)

Parameters

request Diff_MotionMagicVelocityTorqueCurrentFOC_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_PositionTorqueCurrentFOC_Open)

Differential control with position average target and torque current difference target.

Diff_PositionTorqueCurrentFOC_Open Parameters

• AverageRequestAverage PositionTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential TorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_PositionTorqueCurrentFOC_Open request)

Parameters

request Diff_PositionTorqueCurrentFOC_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_PositionTorqueCurrentFOC_Position)

Differential control with position average target and position difference target using torque current control.

Diff_PositionTorqueCurrentFOC_Position Parameters

• AverageRequestAverage PositionTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential PositionTorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_PositionTorqueCurrentFOC_Position request)

Parameters

request Diff_PositionTorqueCurrentFOC_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_PositionTorqueCurrentFOC_Velocity)

Differential control with position average target and velocity difference target using torque current control.

Diff_PositionTorqueCurrentFOC_Velocity Parameters

• AverageRequestAverage PositionTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential VelocityTorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_PositionTorqueCurrentFOC_Velocity request)

Parameters

request Diff_PositionTorqueCurrentFOC_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_TorqueCurrentFOC_Open)

Differential control with torque current average target and torque current difference target.

Diff_TorqueCurrentFOC_Open Parameters

• AverageRequestAverage TorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential TorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_TorqueCurrentFOC_Open request)

Parameters

request Diff_TorqueCurrentFOC_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_TorqueCurrentFOC_Position)

Differential control with torque current average target and position difference target.

Diff_TorqueCurrentFOC_Position Parameters

• AverageRequestAverage TorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential PositionTorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_TorqueCurrentFOC_Position request)

Parameters

request Diff_TorqueCurrentFOC_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_TorqueCurrentFOC_Velocity)

Differential control with torque current average target and velocity difference target.

Diff_TorqueCurrentFOC_Velocity Parameters

• AverageRequestAverage TorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential VelocityTorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_TorqueCurrentFOC_Velocity request)

Parameters

request Diff_TorqueCurrentFOC_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_VelocityTorqueCurrentFOC_Open)

Differential control with velocity average target and torque current difference target.

Diff_VelocityTorqueCurrentFOC_Open Parameters

• AverageRequestAverage VelocityTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential TorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_VelocityTorqueCurrentFOC_Open request)

Parameters

request Diff_VelocityTorqueCurrentFOC_Open

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_VelocityTorqueCurrentFOC_Position)

Differential control with velocity average target and position difference target using torque current control.

Diff_VelocityTorqueCurrentFOC_Position Parameters

• AverageRequestAverage VelocityTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential PositionTorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_VelocityTorqueCurrentFOC_Position request)

Parameters

request Diff_VelocityTorqueCurrentFOC_Position

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(Diff_VelocityTorqueCurrentFOC_Velocity)

Differential control with velocity average target and velocity difference target using torque current control.

Diff_VelocityTorqueCurrentFOC_Velocity Parameters

• AverageRequestAverage VelocityTorqueCurrentFOC request of the mechanism.
• DifferentialRequestDifferential VelocityTorqueCurrentFOC request of the mechanism.

StatusCode SetControl(Diff_VelocityTorqueCurrentFOC_Velocity request)

Parameters

request Diff_VelocityTorqueCurrentFOC_Velocity

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(ControlRequest)

Control device with generic control request object.

User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the NotSupported StatusCode

StatusCode SetControl(ControlRequest request)

Parameters

request ControlRequest

Control object to request of the device

Returns

StatusCode

Status Code of the request, 0 is OK

SetControl(DynamicMotionMagicExpoTorqueCurrentFOC)

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.

DynamicMotionMagicExpoTorqueCurrentFOC Parameters

• PositionPosition to drive toward in rotations.
• kVMechanism 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.
• kAMechanism 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.
• VelocityCruise 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.
• FeedForwardFeedforward 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.
• SlotSelect 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].
• OverrideCoastDurNeutralSet 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).
• LimitForwardMotionSet 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.
• LimitReverseMotionSet 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.
• IgnoreHardwareLimitsSet 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.
• IgnoreSoftwareLimitsSet 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.
• UseTimesyncSet 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.

StatusCode SetControl(DynamicMotionMagicExpoTorqueCurrentFOC request)

Parameters

request DynamicMotionMagicExpoTorqueCurrentFOC

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(DynamicMotionMagicTorqueCurrentFOC)

Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and (optional) Jerk. Users can optionally provide a torque current feedforward.

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

DynamicMotionMagicTorqueCurrentFOC Parameters

• PositionPosition to drive toward in rotations.
• VelocityCruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
• AccelerationAcceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.
• JerkJerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.
• FeedForwardFeedforward 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.
• SlotSelect 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].
• OverrideCoastDurNeutralSet 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).
• LimitForwardMotionSet 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.
• LimitReverseMotionSet 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.
• IgnoreHardwareLimitsSet 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.
• IgnoreSoftwareLimitsSet 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.
• UseTimesyncSet 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.

StatusCode SetControl(DynamicMotionMagicTorqueCurrentFOC request)

Parameters

request DynamicMotionMagicTorqueCurrentFOC

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(MotionMagicExpoTorqueCurrentFOC)

Requests Motion Magic® to target a final position using an exponential motion profile. Users can optionally provide a torque current feedforward.

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

Setting 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.

MotionMagicExpoTorqueCurrentFOC Parameters

• PositionPosition to drive toward in rotations.
• FeedForwardFeedforward 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.
• SlotSelect 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].
• OverrideCoastDurNeutralSet 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).
• LimitForwardMotionSet 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.
• LimitReverseMotionSet 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.
• IgnoreHardwareLimitsSet 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.
• IgnoreSoftwareLimitsSet 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.
• UseTimesyncSet 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.

StatusCode SetControl(MotionMagicExpoTorqueCurrentFOC request)

Parameters

request MotionMagicExpoTorqueCurrentFOC

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(MotionMagicTorqueCurrentFOC)

Requests Motion Magic® to target a final position using a motion profile. Users can optionally provide a torque current feedforward.

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

MotionMagicTorqueCurrentFOC Parameters

• PositionPosition to drive toward in rotations.
• FeedForwardFeedforward 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.
• SlotSelect 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].
• OverrideCoastDurNeutralSet 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).
• LimitForwardMotionSet 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.
• LimitReverseMotionSet 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.
• IgnoreHardwareLimitsSet 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.
• IgnoreSoftwareLimitsSet 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.
• UseTimesyncSet 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.

StatusCode SetControl(MotionMagicTorqueCurrentFOC request)

Parameters

request MotionMagicTorqueCurrentFOC

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(MotionMagicVelocityTorqueCurrentFOC)

Requests Motion Magic® to target a final velocity using a motion profile. This allows smooth transitions between velocity set points. Users can optionally provide a torque feedforward.

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.

If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also 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 based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

MotionMagicVelocityTorqueCurrentFOC Parameters

• VelocityTarget velocity to drive toward in rotations per second. This can be changed on-the fly.
• AccelerationThis is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
• FeedForwardFeedforward 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.
• SlotSelect 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].
• OverrideCoastDurNeutralSet 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).
• LimitForwardMotionSet 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.
• LimitReverseMotionSet 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.
• IgnoreHardwareLimitsSet 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.
• IgnoreSoftwareLimitsSet 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.
• UseTimesyncSet 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.

StatusCode SetControl(MotionMagicVelocityTorqueCurrentFOC request)

Parameters

request MotionMagicVelocityTorqueCurrentFOC

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(PositionTorqueCurrentFOC)

Request PID to target position with torque current feedforward.

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

PositionTorqueCurrentFOC Parameters

• PositionPosition to drive toward in rotations.
• VelocityVelocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
• FeedForwardFeedforward 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.
• SlotSelect 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].
• OverrideCoastDurNeutralSet 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).
• LimitForwardMotionSet 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.
• LimitReverseMotionSet 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.
• IgnoreHardwareLimitsSet 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.
• IgnoreSoftwareLimitsSet 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.
• UseTimesyncSet 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.

StatusCode SetControl(PositionTorqueCurrentFOC request)

Parameters

request PositionTorqueCurrentFOC

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(TorqueCurrentFOC)

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.

TorqueCurrentFOC Parameters

• OutputAmount of motor current in Amperes
• MaxAbsDutyCycleThe 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.
• DeadbandDeadband 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.
• OverrideCoastDurNeutralSet 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).
• LimitForwardMotionSet 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.
• LimitReverseMotionSet 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.
• IgnoreHardwareLimitsSet 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.
• IgnoreSoftwareLimitsSet 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.
• UseTimesyncSet 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.

StatusCode SetControl(TorqueCurrentFOC request)

Parameters

request TorqueCurrentFOC

Control object to request of the device

Returns

StatusCode

Code response of the request

SetControl(VelocityTorqueCurrentFOC)

Request PID to target velocity with torque current feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

VelocityTorqueCurrentFOC Parameters

• VelocityVelocity to drive toward in rotations per second.
• AccelerationAcceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
• FeedForwardFeedforward 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.
• SlotSelect 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].
• OverrideCoastDurNeutralSet 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).
• LimitForwardMotionSet 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.
• LimitReverseMotionSet 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.
• IgnoreHardwareLimitsSet 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.
• IgnoreSoftwareLimitsSet 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.
• UseTimesyncSet 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.

StatusCode SetControl(VelocityTorqueCurrentFOC request)

Parameters

request VelocityTorqueCurrentFOC

Control object to request of the device

Returns

StatusCode

Code response of the request