Class MotionMagicDutyCycle
- All Implemented Interfaces:
Cloneable
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 duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
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Field Summary
Modifier and TypeFieldDescriptionboolean
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.double
Feedforward to apply in fractional units between -1 and +1.boolean
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.boolean
Set to true to force forward limiting.boolean
Set to true to force reverse limiting.boolean
Set to true to static-brake the rotor when output is zero (or within deadband).double
Position to drive toward in rotations.int
Select which gains are applied by selecting the slot.double
The period at which this control will update at.boolean
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
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Constructor Summary
ConstructorDescriptionMotionMagicDutyCycle
(double Position) Requests Motion Magic® to target a final position using a motion profile.MotionMagicDutyCycle
(edu.wpi.first.units.measure.Angle Position) Requests Motion Magic® to target a final position using a motion profile. -
Method Summary
Modifier and TypeMethodDescriptionclone()
Gets information about this control request.edu.wpi.first.units.measure.Angle
Helper method to get this Control Request's Position parameter converted to a unit type.sendRequest
(String network, int deviceHash) toString()
withEnableFOC
(boolean newEnableFOC) Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.withFeedForward
(double newFeedForward) Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.withIgnoreHardwareLimits
(boolean newIgnoreHardwareLimits) Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining and easier to use request API.withLimitForwardMotion
(boolean newLimitForwardMotion) Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API.withLimitReverseMotion
(boolean newLimitReverseMotion) Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API.withOverrideBrakeDurNeutral
(boolean newOverrideBrakeDurNeutral) Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.withPosition
(double newPosition) Modifies this Control Request's Position parameter and returns itself for method-chaining and easier to use request API.withPosition
(edu.wpi.first.units.measure.Angle newPosition) Modifies this Control Request's Position parameter and returns itself for method-chaining and easier to use request API.withSlot
(int newSlot) Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API.withUpdateFreqHz
(double newUpdateFreqHz) Sets the period at which this control will update at.withUpdateFreqHz
(edu.wpi.first.units.measure.Frequency newUpdateFreqHz) Sets the period at which this control will update at.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
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Field Details
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Position
Position to drive toward in rotations. -
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.
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FeedForward
Feedforward to apply in fractional units between -1 and +1. -
Slot
Select 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]. -
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
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
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
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.
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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.
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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.
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Constructor Details
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MotionMagicDutyCycle
Requests Motion Magic® to target a final position using a motion profile. Users can optionally provide a duty cycle 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 duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
- Parameters:
Position
- Position to drive toward in rotations.
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MotionMagicDutyCycle
Requests Motion Magic® to target a final position using a motion profile. Users can optionally provide a duty cycle 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 duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.
- Parameters:
Position
- Position to drive toward in rotations.
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Method Details
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toString
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sendRequest
- Specified by:
sendRequest
in classControlRequest
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getControlInfo
Gets information about this control request.- Specified by:
getControlInfo
in classControlRequest
- Returns:
- Map of control parameter names and corresponding applied values
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withPosition
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier to use request API.Position to drive toward in rotations.
- Parameters:
newPosition
- Parameter to modify- Returns:
- Itself
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withPosition
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier to use request API.Position to drive toward in rotations.
- Parameters:
newPosition
- Parameter to modify- Returns:
- Itself
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getPositionMeasure
Helper method to get this Control Request's Position parameter converted to a unit type. If not using the Java units library,Position
can be accessed directly instead.Position to drive toward in rotations.
- Returns:
- Position
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withEnableFOC
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
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withFeedForward
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.Feedforward to apply in fractional units between -1 and +1.
- Parameters:
newFeedForward
- Parameter to modify- Returns:
- Itself
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withSlot
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API.Select 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].
- Parameters:
newSlot
- Parameter to modify- Returns:
- Itself
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withOverrideBrakeDurNeutral
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
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withLimitForwardMotion
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
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withLimitReverseMotion
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
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withIgnoreHardwareLimits
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
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withUseTimesync
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
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withUpdateFreqHz
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 classControlRequest
- Parameters:
newUpdateFreqHz
- Parameter to modify- Returns:
- Itself
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withUpdateFreqHz
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
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clone
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