Package com.ctre.phoenix6.controls

Class DifferentialPositionDutyCycle

java.lang.Object
com.ctre.phoenix6.controls.ControlRequest
com.ctre.phoenix6.controls.DifferentialPositionDutyCycle
All Implemented Interfaces:
Cloneable
public class DifferentialPositionDutyCycle extends ControlRequest implements Cloneable
Request PID to target position with a differential position setpoint.

This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.

  • Field Details

    • TargetPosition

      public double TargetPosition
      Average position to drive toward in rotations.

    • DifferentialPosition

      public double DifferentialPosition
      Differential position to drive toward in rotations.

    • EnableFOC

      public boolean EnableFOC
      Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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.

    • TargetSlot

      public int TargetSlot
      Select which gains are applied to the primary 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].

    • DifferentialSlot

      public int 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].

    • OverrideBrakeDurNeutral

      public boolean 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.

    • LimitForwardMotion

      public boolean 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.

    • LimitReverseMotion

      public boolean 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.

    • IgnoreHardwareLimits

      public boolean 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.

    • UseTimesync

      public boolean 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.

    • UpdateFreqHz

      public double UpdateFreqHz
      The period at which this control will update at. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

      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.

  • Constructor Details

    • DifferentialPositionDutyCycle

      public DifferentialPositionDutyCycle(double TargetPosition, double DifferentialPosition)
      Request PID to target position with a differential position setpoint.

      This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.

      Parameters:
      TargetPosition - Average position to drive toward in rotations.
      DifferentialPosition - Differential position to drive toward in rotations.

    • DifferentialPositionDutyCycle

      public DifferentialPositionDutyCycle(edu.wpi.first.units.measure.Angle TargetPosition, edu.wpi.first.units.measure.Angle DifferentialPosition)
      Request PID to target position with a differential position setpoint.

      This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.

      Parameters:
      TargetPosition - Average position to drive toward in rotations.
      DifferentialPosition - Differential position to drive toward in rotations.

  • Method Details

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • sendRequest

      public StatusCode sendRequest(String network, int deviceHash)
      Specified by:
      sendRequest in class ControlRequest

    • getControlInfo

      public Map<String,String> getControlInfo()
      Gets information about this control request.
      Specified by:
      getControlInfo in class ControlRequest
      Returns:
      Map of control parameter names and corresponding applied values

    • withTargetPosition

      public DifferentialPositionDutyCycle withTargetPosition(double newTargetPosition)
      Modifies this Control Request's TargetPosition parameter and returns itself for method-chaining and easier to use request API.

      Average position to drive toward in rotations.

      Parameters:
      newTargetPosition - Parameter to modify
      Returns:
      Itself

    • withTargetPosition

      public DifferentialPositionDutyCycle withTargetPosition(edu.wpi.first.units.measure.Angle newTargetPosition)
      Modifies this Control Request's TargetPosition parameter and returns itself for method-chaining and easier to use request API.

      Average position to drive toward in rotations.

      Parameters:
      newTargetPosition - Parameter to modify
      Returns:
      Itself

    • getTargetPositionMeasure

      public edu.wpi.first.units.measure.Angle getTargetPositionMeasure()
      Helper method to get this Control Request's TargetPosition parameter converted to a unit type. If not using the Java units library, TargetPosition can be accessed directly instead.

      Average position to drive toward in rotations.

      Returns:
      TargetPosition

    • withDifferentialPosition

      public DifferentialPositionDutyCycle withDifferentialPosition(double newDifferentialPosition)
      Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining and easier to use request API.

      Differential position to drive toward in rotations.

      Parameters:
      newDifferentialPosition - Parameter to modify
      Returns:
      Itself

    • withDifferentialPosition

      public DifferentialPositionDutyCycle withDifferentialPosition(edu.wpi.first.units.measure.Angle newDifferentialPosition)
      Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining and easier to use request API.

      Differential position to drive toward in rotations.

      Parameters:
      newDifferentialPosition - Parameter to modify
      Returns:
      Itself

    • getDifferentialPositionMeasure

      public edu.wpi.first.units.measure.Angle getDifferentialPositionMeasure()
      Helper method to get this Control Request's DifferentialPosition parameter converted to a unit type. If not using the Java units library, DifferentialPosition can be accessed directly instead.

      Differential position to drive toward in rotations.

      Returns:
      DifferentialPosition

    • withEnableFOC

      public DifferentialPositionDutyCycle withEnableFOC(boolean newEnableFOC)
      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%. 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.

      Parameters:
      newEnableFOC - Parameter to modify
      Returns:
      Itself

    • withTargetSlot

      public DifferentialPositionDutyCycle withTargetSlot(int newTargetSlot)
      Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easier to use request API.

      Select which gains are applied to the primary 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].

      Parameters:
      newTargetSlot - Parameter to modify
      Returns:
      Itself

    • withDifferentialSlot

      public DifferentialPositionDutyCycle withDifferentialSlot(int newDifferentialSlot)
      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].

      Parameters:
      newDifferentialSlot - Parameter to modify
      Returns:
      Itself

    • withOverrideBrakeDurNeutral

      public DifferentialPositionDutyCycle withOverrideBrakeDurNeutral(boolean newOverrideBrakeDurNeutral)
      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.

      Parameters:
      newOverrideBrakeDurNeutral - Parameter to modify
      Returns:
      Itself

    • withLimitForwardMotion

      public DifferentialPositionDutyCycle withLimitForwardMotion(boolean newLimitForwardMotion)
      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.

      Parameters:
      newLimitForwardMotion - Parameter to modify
      Returns:
      Itself

    • withLimitReverseMotion

      public DifferentialPositionDutyCycle withLimitReverseMotion(boolean newLimitReverseMotion)
      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.

      Parameters:
      newLimitReverseMotion - Parameter to modify
      Returns:
      Itself

    • withIgnoreHardwareLimits

      public DifferentialPositionDutyCycle withIgnoreHardwareLimits(boolean newIgnoreHardwareLimits)
      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.

      Parameters:
      newIgnoreHardwareLimits - Parameter to modify
      Returns:
      Itself

    • withUseTimesync

      public DifferentialPositionDutyCycle withUseTimesync(boolean newUseTimesync)
      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.

      Parameters:
      newUseTimesync - Parameter to modify
      Returns:
      Itself

    • withUpdateFreqHz

      public DifferentialPositionDutyCycle withUpdateFreqHz(double newUpdateFreqHz)
      Sets the period at which this control will update at. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

      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.

      Specified by:
      withUpdateFreqHz in class ControlRequest
      Parameters:
      newUpdateFreqHz - Parameter to modify
      Returns:
      Itself

    • withUpdateFreqHz

      public DifferentialPositionDutyCycle withUpdateFreqHz(edu.wpi.first.units.measure.Frequency newUpdateFreqHz)
      Sets the period at which this control will update at. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

      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.

      Parameters:
      newUpdateFreqHz - Parameter to modify
      Returns:
      Itself

    • clone

      public DifferentialPositionDutyCycle clone()
      Overrides:
      clone in class Object