Package com.ctre.phoenix6.controls

Class DutyCycleOut

java.lang.Object
com.ctre.phoenix6.controls.ControlRequest
com.ctre.phoenix6.controls.DutyCycleOut
All Implemented Interfaces:
Cloneable
public class DutyCycleOut extends ControlRequest implements 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%.
    boolean
    IgnoreHardwareLimits
    Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, 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
    boolean
    OverrideBrakeDurNeutral
    Set to true to static-brake the rotor when output is zero (or within deadband).
    double
    UpdateFreqHz
    The period at which this control will update at.
    boolean
    UseTimesync
    Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore).

    Fields inherited from class com.ctre.phoenix6.controls.ControlRequest

    name

  • 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.
    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
    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 period at which this control will update at.
    DutyCycleOut
    withUpdateFreqHz(edu.wpi.first.units.measure.Frequency newUpdateFreqHz)
    Sets the period at which this control will update at.
    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 com.ctre.phoenix6.controls.ControlRequest

    getName

    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

    • 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.

    • 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

    • 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

    • 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

    • 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

      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%. 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

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