Package com.ctre.phoenix6.controls

Class TorqueCurrentFOC

java.lang.Object
com.ctre.phoenix6.controls.ControlRequest
com.ctre.phoenix6.controls.TorqueCurrentFOC
All Implemented Interfaces:
Cloneable
public class TorqueCurrentFOC extends ControlRequest implements Cloneable
Requires Phoenix Pro; Request a specified motor current (field oriented control).

This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    double
    Deadband
    Deadband in Amperes.
    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
    MaxAbsDutyCycle
    The maximum absolute motor output that can be applied, which effectively limits the velocity.
    double
    Output
    Amount of motor current in Amperes
    boolean
    OverrideCoastDurNeutral
    Set to true to coast 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
    TorqueCurrentFOC(double Output)
    Requires Phoenix Pro; Request a specified motor current (field oriented control).
    TorqueCurrentFOC(edu.wpi.first.units.measure.Current Output)
    Requires Phoenix Pro; Request a specified motor current (field oriented control).

  • Method Summary

    Modifier and Type
    Method
    Description
    TorqueCurrentFOC
    clone()
     
    Map<String,String>
    getControlInfo()
    Gets information about this control request.
    edu.wpi.first.units.measure.Current
    getDeadbandMeasure()
    Helper method to get this Control Request's Deadband parameter converted to a unit type.
    edu.wpi.first.units.measure.Current
    getOutputMeasure()
    Helper method to get this Control Request's Output parameter converted to a unit type.
    StatusCode
    sendRequest(String network, int deviceHash)
     
    String
    toString()
     
    TorqueCurrentFOC
    withDeadband(double newDeadband)
    Modifies this Control Request's Deadband parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC
    withDeadband(edu.wpi.first.units.measure.Current newDeadband)
    Modifies this Control Request's Deadband parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC
    withIgnoreHardwareLimits(boolean newIgnoreHardwareLimits)
    Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC
    withLimitForwardMotion(boolean newLimitForwardMotion)
    Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC
    withLimitReverseMotion(boolean newLimitReverseMotion)
    Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC
    withMaxAbsDutyCycle(double newMaxAbsDutyCycle)
    Modifies this Control Request's MaxAbsDutyCycle parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC
    withOutput(double newOutput)
    Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC
    withOutput(edu.wpi.first.units.measure.Current newOutput)
    Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC
    withOverrideCoastDurNeutral(boolean newOverrideCoastDurNeutral)
    Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC
    withUpdateFreqHz(double newUpdateFreqHz)
    Sets the period at which this control will update at.
    TorqueCurrentFOC
    withUpdateFreqHz(edu.wpi.first.units.measure.Frequency newUpdateFreqHz)
    Sets the period at which this control will update at.
    TorqueCurrentFOC
    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
      Amount of motor current in Amperes

    • MaxAbsDutyCycle

      public double MaxAbsDutyCycle
      The maximum absolute motor output that can be applied, which effectively limits the velocity. For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one.

    • Deadband

      public double Deadband
      Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.

    • OverrideCoastDurNeutral

      public boolean OverrideCoastDurNeutral
      Set to true to coast 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 0A (zero torque).

    • 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

    • TorqueCurrentFOC

      public TorqueCurrentFOC(double Output)
      Requires Phoenix Pro; Request a specified motor current (field oriented control).

      This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.

      Parameters:
      Output - Amount of motor current in Amperes

    • TorqueCurrentFOC

      public TorqueCurrentFOC(edu.wpi.first.units.measure.Current Output)
      Requires Phoenix Pro; Request a specified motor current (field oriented control).

      This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.

      Parameters:
      Output - Amount of motor current in Amperes

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

      Amount of motor current in Amperes

      Parameters:
      newOutput - Parameter to modify
      Returns:
      Itself

    • withOutput

      public TorqueCurrentFOC withOutput(edu.wpi.first.units.measure.Current newOutput)
      Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.

      Amount of motor current in Amperes

      Parameters:
      newOutput - Parameter to modify
      Returns:
      Itself

    • getOutputMeasure

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

      Amount of motor current in Amperes

      Returns:
      Output

    • withMaxAbsDutyCycle

      public TorqueCurrentFOC withMaxAbsDutyCycle(double newMaxAbsDutyCycle)
      Modifies this Control Request's MaxAbsDutyCycle parameter and returns itself for method-chaining and easier to use request API.

      The maximum absolute motor output that can be applied, which effectively limits the velocity. For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one.

      Parameters:
      newMaxAbsDutyCycle - Parameter to modify
      Returns:
      Itself

    • withDeadband

      public TorqueCurrentFOC withDeadband(double newDeadband)
      Modifies this Control Request's Deadband parameter and returns itself for method-chaining and easier to use request API.

      Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.

      Parameters:
      newDeadband - Parameter to modify
      Returns:
      Itself

    • withDeadband

      public TorqueCurrentFOC withDeadband(edu.wpi.first.units.measure.Current newDeadband)
      Modifies this Control Request's Deadband parameter and returns itself for method-chaining and easier to use request API.

      Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.

      Parameters:
      newDeadband - Parameter to modify
      Returns:
      Itself

    • getDeadbandMeasure

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

      Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.

      Returns:
      Deadband

    • withOverrideCoastDurNeutral

      public TorqueCurrentFOC withOverrideCoastDurNeutral(boolean newOverrideCoastDurNeutral)
      Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chaining and easier to use request API.

      Set to true to coast 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 0A (zero torque).

      Parameters:
      newOverrideCoastDurNeutral - Parameter to modify
      Returns:
      Itself

    • withLimitForwardMotion

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