Package com.ctre.phoenix6.controls

Class DutyCycleOut

java.lang.Object
com.ctre.phoenix6.controls.DutyCycleOut
All Implemented Interfaces:
ControlRequest, Cloneable
public final class DutyCycleOut extends Object implements ControlRequest, Cloneable
Request a specified motor duty cycle.

This control mode will output a proportion of the supplied voltage which is supplied by the user.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    boolean
    EnableFOC
    Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC).
    boolean
    IgnoreHardwareLimits
    Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.
    boolean
    IgnoreSoftwareLimits
    Set to true to ignore software limits, instead allowing motion.
    boolean
    LimitForwardMotion
    Set to true to force forward limiting.
    boolean
    LimitReverseMotion
    Set to true to force reverse limiting.
    double
    Output
    Proportion of supply voltage to apply in fractional units between -1 and +1 Units: fractional
    boolean
    OverrideBrakeDurNeutral
    Set to true to static-brake the rotor when output is zero (or within deadband).
    double
    UpdateFreqHz
    The frequency at which this control will update.
    boolean
    UseTimesync
    Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore).

  • Constructor Summary

    Constructors
    Constructor
    Description
    DutyCycleOut(double Output)
    Request a specified motor duty cycle.

  • Method Summary

    Modifier and Type
    Method
    Description
    DutyCycleOut
    clone()
     
    Map<String,String>
    getControlInfo()
    Gets information about this control request.
    String
    getName()
    Gets the name of this control request.
    StatusCode
    sendRequest(String network, int deviceHash)
     
    String
    toString()
     
    DutyCycleOut
    withEnableFOC(boolean newEnableFOC)
    Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.
    DutyCycleOut
    withIgnoreHardwareLimits(boolean newIgnoreHardwareLimits)
    Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining and easier to use request API.
    DutyCycleOut
    withIgnoreSoftwareLimits(boolean newIgnoreSoftwareLimits)
    Modifies this Control Request's IgnoreSoftwareLimits parameter and returns itself for method-chaining and easier to use request API.
    DutyCycleOut
    withLimitForwardMotion(boolean newLimitForwardMotion)
    Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API.
    DutyCycleOut
    withLimitReverseMotion(boolean newLimitReverseMotion)
    Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API.
    DutyCycleOut
    withOutput(double newOutput)
    Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.
    DutyCycleOut
    withOverrideBrakeDurNeutral(boolean newOverrideBrakeDurNeutral)
    Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.
    DutyCycleOut
    withUpdateFreqHz(double newUpdateFreqHz)
    Sets the frequency at which this control will update.
    DutyCycleOut
    withUpdateFreqHz(Frequency newUpdateFreqHz)
    Sets the frequency at which this control will update.
    DutyCycleOut
    withUseTimesync(boolean newUseTimesync)
    Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easier to use request API.

    Methods inherited from class java.lang.Object

    equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

  • Field Details

    • Output

      public double Output
      Proportion of supply voltage to apply in fractional units between -1 and +1
      • Units: fractional

    • 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.

    • 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

    • DutyCycleOut

      public DutyCycleOut(double Output)
      Request a specified motor duty cycle.

      This control mode will output a proportion of the supplied voltage which is supplied by the user.

      Parameters:
      Output - Proportion of supply voltage to apply in fractional units between -1 and +1

  • 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

    • withOutput

      public DutyCycleOut withOutput(double newOutput)
      Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.

      Proportion of supply voltage to apply in fractional units between -1 and +1

      • Units: fractional
      Parameters:
      newOutput - Parameter to modify
      Returns:
      Itself

    • withEnableFOC

      public DutyCycleOut 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

    • withOverrideBrakeDurNeutral

      public DutyCycleOut 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 DutyCycleOut 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 DutyCycleOut 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 DutyCycleOut 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 DutyCycleOut 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 DutyCycleOut 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 DutyCycleOut 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 DutyCycleOut 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 DutyCycleOut clone()
      Overrides:
      clone in class Object