Package com.ctre.phoenix6.controls

Class DifferentialPositionDutyCycle

java.lang.Object
com.ctre.phoenix6.controls.DifferentialPositionDutyCycle
All Implemented Interfaces:
ControlRequest, Cloneable
public final class DifferentialPositionDutyCycle extends Object implements ControlRequest, 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

    • AveragePosition

      public double AveragePosition
      Average position to drive toward in rotations.
      • Units: rotations

    • DifferentialPosition

      public double DifferentialPosition
      Differential position to drive toward in rotations.
      • Units: rotations

    • EnableFOC

      public boolean 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.

    • AverageSlot

      public int AverageSlot
      Select which gains are applied to the average 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.

    • IgnoreSoftwareLimits

      public boolean 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.

    • 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 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.

  • Constructor Details

    • DifferentialPositionDutyCycle

      public DifferentialPositionDutyCycle(double AveragePosition, 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:
      AveragePosition - Average position to drive toward in rotations.
      DifferentialPosition - Differential position to drive toward in rotations.

    • DifferentialPositionDutyCycle

      public DifferentialPositionDutyCycle(Angle AveragePosition, 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:
      AveragePosition - Average position to drive toward in rotations.
      DifferentialPosition - Differential position to drive toward in rotations.

  • Method Details

    • getName

      public String getName()
      Description copied from interface: ControlRequest
      Gets the name of this control request.
      Specified by:
      getName in interface ControlRequest
      Returns:
      Name of the control request

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • sendRequest

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

    • getControlInfo

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

    • withAveragePosition

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

      Average position to drive toward in rotations.

      • Units: rotations
      Parameters:
      newAveragePosition - Parameter to modify
      Returns:
      Itself

    • withAveragePosition

      public DifferentialPositionDutyCycle withAveragePosition(Angle newAveragePosition)
      Modifies this Control Request's AveragePosition parameter and returns itself for method-chaining and easier to use request API.

      Average position to drive toward in rotations.

      • Units: rotations
      Parameters:
      newAveragePosition - Parameter to modify
      Returns:
      Itself

    • getAveragePositionMeasure

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

      Average position to drive toward in rotations.

      • Units: rotations
      Returns:
      AveragePosition

    • 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.

      • Units: rotations
      Parameters:
      newDifferentialPosition - Parameter to modify
      Returns:
      Itself

    • withDifferentialPosition

      public DifferentialPositionDutyCycle withDifferentialPosition(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.

      • Units: rotations
      Parameters:
      newDifferentialPosition - Parameter to modify
      Returns:
      Itself

    • getDifferentialPositionMeasure

      public 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.

      • Units: 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% 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.

      Parameters:
      newEnableFOC - Parameter to modify
      Returns:
      Itself

    • withAverageSlot

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

      Select which gains are applied to the average 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:
      newAverageSlot - 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

    • withIgnoreSoftwareLimits

      public DifferentialPositionDutyCycle withIgnoreSoftwareLimits(boolean newIgnoreSoftwareLimits)
      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.

      Parameters:
      newIgnoreSoftwareLimits - 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 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.

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

    • withUpdateFreqHz

      public DifferentialPositionDutyCycle withUpdateFreqHz(Frequency newUpdateFreqHz)
      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.

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

    • clone

      public DifferentialPositionDutyCycle clone()
      Overrides:
      clone in class Object