Package com.ctre.phoenix6.hardware.traits

Interface SupportsFOC

All Known Subinterfaces:

CommonTalonWithFOC

All Known Implementing Classes:

CoreTalonFX, TalonFX

public interface SupportsFOC

Requires Phoenix Pro; Contains all FOC-exclusive control functions available for devices that support FOC.

Method Summary

Modifier and Type	Method	Description
StatusCode	setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicTorqueCurrentFOC_Position request)	Differential control with Motion Magic® average target and position difference target using torque current control.
StatusCode	setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicTorqueCurrentFOC_Velocity request)	Differential control with Motion Magic® average target and velocity difference target using torque current control.
StatusCode	setControl(com.ctre.phoenix6.controls.compound.Diff_PositionTorqueCurrentFOC_Position request)	Differential control with position average target and position difference target using torque current control.
StatusCode	setControl(com.ctre.phoenix6.controls.compound.Diff_PositionTorqueCurrentFOC_Velocity request)	Differential control with position average target and velocity difference target using torque current control.
StatusCode	setControl(com.ctre.phoenix6.controls.compound.Diff_TorqueCurrentFOC_Position request)	Differential control with torque current average target and position difference target.
StatusCode	setControl(com.ctre.phoenix6.controls.compound.Diff_TorqueCurrentFOC_Velocity request)	Differential control with torque current average target and velocity difference target.
StatusCode	setControl(com.ctre.phoenix6.controls.compound.Diff_VelocityTorqueCurrentFOC_Position request)	Differential control with velocity average target and position difference target using torque current control.
StatusCode	setControl(com.ctre.phoenix6.controls.compound.Diff_VelocityTorqueCurrentFOC_Velocity request)	Differential control with velocity average target and velocity difference target using torque current control.
StatusCode	setControl(ControlRequest request)	Control device with generic control request object.
StatusCode	setControl(DynamicMotionMagicTorqueCurrentFOC request)	Requests Motion Magic® to target a final position using a motion profile.
StatusCode	setControl(MotionMagicExpoTorqueCurrentFOC request)	Requests Motion Magic® to target a final position using an exponential motion profile.
StatusCode	setControl(MotionMagicTorqueCurrentFOC request)	Requests Motion Magic® to target a final position using a motion profile.
StatusCode	setControl(MotionMagicVelocityTorqueCurrentFOC request)	Requests Motion Magic® to target a final velocity using a motion profile.
StatusCode	setControl(PositionTorqueCurrentFOC request)	Request PID to target position with torque current feedforward.
StatusCode	setControl(TorqueCurrentFOC request)	Request a specified motor current (field oriented control).
StatusCode	setControl(VelocityTorqueCurrentFOC request)	Request PID to target velocity with torque current feedforward.

Method Details

setControl

StatusCode setControl(TorqueCurrentFOC request)

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.

• TorqueCurrentFOC Parameters:
  • Output: Amount of motor current in Amperes
  • 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: 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: 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: 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.

  • 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.

Parameters:

request - Control object to request of the device

Returns:

Code response of the request

setControl

StatusCode setControl(PositionTorqueCurrentFOC request)

Request PID to target position with torque current feedforward.

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

• PositionTorqueCurrentFOC Parameters:
  • Position: Position to drive toward in rotations.
  • Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
  • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
  • 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].
  • 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: 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.

  • 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.

Parameters:

request - Control object to request of the device

Returns:

Code response of the request

setControl

StatusCode setControl(VelocityTorqueCurrentFOC request)

Request PID to target velocity with torque current feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

• VelocityTorqueCurrentFOC Parameters:
  • Velocity: Velocity to drive toward in rotations per second.
  • Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
  • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
  • 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].
  • 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: 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.

  • 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.

Parameters:

request - Control object to request of the device

Returns:

Code response of the request

setControl

StatusCode setControl(MotionMagicTorqueCurrentFOC request)

Requests Motion Magic® to target a final position using a motion profile. Users can optionally provide a torque current 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 based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

• MotionMagicTorqueCurrentFOC Parameters:
  • Position: Position to drive toward in rotations.
  • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
  • 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].
  • 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: 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.

  • 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.

Parameters:

request - Control object to request of the device

Returns:

Code response of the request

setControl

StatusCode setControl(MotionMagicVelocityTorqueCurrentFOC request)

Requests Motion Magic® to target a final velocity using a motion profile. This allows smooth transitions between velocity set points. Users can optionally provide a torque feedforward.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile.

Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

• MotionMagicVelocityTorqueCurrentFOC Parameters:
  • Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
  • Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
  • 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.

  • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
  • 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].
  • 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: 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.

  • 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.

Parameters:

request - Control object to request of the device

Returns:

Code response of the request

setControl

StatusCode setControl(MotionMagicExpoTorqueCurrentFOC request)

Requests Motion Magic® to target a final position using an exponential motion profile. Users can optionally provide a torque current feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

• MotionMagicExpoTorqueCurrentFOC Parameters:
  • Position: Position to drive toward in rotations.
  • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
  • 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].
  • 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: 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.

  • 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.

Parameters:

request - Control object to request of the device

Returns:

Code response of the request

setControl

StatusCode setControl(DynamicMotionMagicTorqueCurrentFOC request)

Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a torque current feedforward. This control requires use of a CANivore.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and (optional) Jerk. 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 based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

• DynamicMotionMagicTorqueCurrentFOC Parameters:
  • Position: Position to drive toward in rotations.
  • Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  • Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  • Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.

    Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.

  • FeedForward: Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
  • 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].
  • 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: 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.

  • 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.

Parameters:

request - Control object to request of the device

Returns:

Code response of the request

setControl

StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_TorqueCurrentFOC_Position request)

Differential control with torque current average target and position difference target.

• Diff_TorqueCurrentFOC_Position Parameters:
  • AverageRequest: Average TorqueCurrentFOC request of the mechanism.
  • DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.

Parameters:

request - Control object to request of the device

Returns:

Code response of the request

setControl

StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_PositionTorqueCurrentFOC_Position request)

Differential control with position average target and position difference target using torque current control.

• Diff_PositionTorqueCurrentFOC_Position Parameters:
  • AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism.
  • DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.

Parameters:

request - Control object to request of the device

Returns:

Code response of the request

setControl

StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VelocityTorqueCurrentFOC_Position request)

Differential control with velocity average target and position difference target using torque current control.

• Diff_VelocityTorqueCurrentFOC_Position Parameters:
  • AverageRequest: Average VelocityTorqueCurrentFOC request of the mechanism.
  • DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.

Parameters:

request - Control object to request of the device

Returns:

Code response of the request

setControl

StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicTorqueCurrentFOC_Position request)

Differential control with Motion Magic® average target and position difference target using torque current control.

• Diff_MotionMagicTorqueCurrentFOC_Position Parameters:
  • AverageRequest: Average MotionMagicTorqueCurrentFOC request of the mechanism.
  • DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism.

Parameters:

request - Control object to request of the device

Returns:

Code response of the request

setControl

StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_TorqueCurrentFOC_Velocity request)

Differential control with torque current average target and velocity difference target.

• Diff_TorqueCurrentFOC_Velocity Parameters:
  • AverageRequest: Average TorqueCurrentFOC request of the mechanism.
  • DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.

Parameters:

request - Control object to request of the device

Returns:

Code response of the request

setControl

StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_PositionTorqueCurrentFOC_Velocity request)

Differential control with position average target and velocity difference target using torque current control.

• Diff_PositionTorqueCurrentFOC_Velocity Parameters:
  • AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism.
  • DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.

Parameters:

request - Control object to request of the device

Returns:

Code response of the request

setControl

StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_VelocityTorqueCurrentFOC_Velocity request)

Differential control with velocity average target and velocity difference target using torque current control.

• Diff_VelocityTorqueCurrentFOC_Velocity Parameters:
  • AverageRequest: Average VelocityTorqueCurrentFOC request of the mechanism.
  • DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.

Parameters:

request - Control object to request of the device

Returns:

Code response of the request

setControl

StatusCode setControl(com.ctre.phoenix6.controls.compound.Diff_MotionMagicTorqueCurrentFOC_Velocity request)

Differential control with Motion Magic® average target and velocity difference target using torque current control.

• Diff_MotionMagicTorqueCurrentFOC_Velocity Parameters:
  • AverageRequest: Average MotionMagicTorqueCurrentFOC request of the mechanism.
  • DifferentialRequest: Differential VelocityTorqueCurrentFOC request of the mechanism.

Parameters:

request - Control object to request of the device

Returns:

Code response of the request

setControl

StatusCode setControl(ControlRequest request)

Control device with generic control request object.

User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the NotSupported StatusCode

Parameters:

request - Control object to request of the device

Returns:

Status Code of the request, 0 is OK