Request a specified motor duty cycle with a differential position closed-loop.
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#include <ctre/phoenix6/controls/DifferentialDutyCycle.hpp>
Request a specified motor duty cycle with a differential position closed-loop.
This control mode will output a proportion of the supplied voltage which is supplied by the user. It will also set the motor's differential position setpoint to the specified position.
◆ DifferentialDutyCycle()
ctre::phoenix6::controls::DifferentialDutyCycle::DifferentialDutyCycle |
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units::dimensionless::scalar_t |
TargetOutput, |
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units::angle::turn_t |
DifferentialPosition, |
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bool |
EnableFOC = true , |
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int |
DifferentialSlot = 1 , |
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bool |
OverrideBrakeDurNeutral = false , |
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bool |
LimitForwardMotion = false , |
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bool |
LimitReverseMotion = false |
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inline |
Request a specified motor duty cycle with a differential position closed-loop.
This control mode will output a proportion of the supplied voltage which is supplied by the user. It will also set the motor's differential position setpoint to the specified position.
- Parameters
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TargetOutput | Proportion of supply voltage to apply in fractional units between -1 and +1 |
DifferentialPosition | Differential position to drive towards 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. |
DifferentialSlot | Select which gains are applied to the differential controller 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. |
◆ GetControlInfo()
std::map< std::string, std::string > ctre::phoenix6::controls::DifferentialDutyCycle::GetControlInfo |
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const |
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inlineoverridevirtual |
◆ ToString()
std::string ctre::phoenix6::controls::DifferentialDutyCycle::ToString |
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const |
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inlineoverridevirtual |
◆ WithDifferentialPosition()
DifferentialDutyCycle & ctre::phoenix6::controls::DifferentialDutyCycle::WithDifferentialPosition |
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units::angle::turn_t |
newDifferentialPosition | ) |
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inline |
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining and easier to use request API.
- Parameters
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newDifferentialPosition | Parameter to modify |
- Returns
- Itself
◆ WithDifferentialSlot()
DifferentialDutyCycle & ctre::phoenix6::controls::DifferentialDutyCycle::WithDifferentialSlot |
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int |
newDifferentialSlot | ) |
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inline |
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and easier to use request API.
- Parameters
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newDifferentialSlot | Parameter to modify |
- Returns
- Itself
◆ WithEnableFOC()
DifferentialDutyCycle & ctre::phoenix6::controls::DifferentialDutyCycle::WithEnableFOC |
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bool |
newEnableFOC | ) |
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inline |
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.
- Parameters
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newEnableFOC | Parameter to modify |
- Returns
- Itself
◆ WithLimitForwardMotion()
DifferentialDutyCycle & ctre::phoenix6::controls::DifferentialDutyCycle::WithLimitForwardMotion |
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bool |
newLimitForwardMotion | ) |
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inline |
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API.
- Parameters
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newLimitForwardMotion | Parameter to modify |
- Returns
- Itself
◆ WithLimitReverseMotion()
DifferentialDutyCycle & ctre::phoenix6::controls::DifferentialDutyCycle::WithLimitReverseMotion |
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bool |
newLimitReverseMotion | ) |
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inline |
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API.
- Parameters
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newLimitReverseMotion | Parameter to modify |
- Returns
- Itself
◆ WithOverrideBrakeDurNeutral()
DifferentialDutyCycle & ctre::phoenix6::controls::DifferentialDutyCycle::WithOverrideBrakeDurNeutral |
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bool |
newOverrideBrakeDurNeutral | ) |
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inline |
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.
- Parameters
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newOverrideBrakeDurNeutral | Parameter to modify |
- Returns
- Itself
◆ WithTargetOutput()
DifferentialDutyCycle & ctre::phoenix6::controls::DifferentialDutyCycle::WithTargetOutput |
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units::dimensionless::scalar_t |
newTargetOutput | ) |
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inline |
Modifies this Control Request's TargetOutput parameter and returns itself for method-chaining and easier to use request API.
- Parameters
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newTargetOutput | Parameter to modify |
- Returns
- Itself
◆ WithUpdateFreqHz()
DifferentialDutyCycle & ctre::phoenix6::controls::DifferentialDutyCycle::WithUpdateFreqHz |
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units::frequency::hertz_t |
newUpdateFreqHz | ) |
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inline |
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
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newUpdateFreqHz | Parameter to modify |
- Returns
- Itself
◆ DifferentialPosition
units::angle::turn_t ctre::phoenix6::controls::DifferentialDutyCycle::DifferentialPosition |
Differential position to drive towards in rotations.
◆ DifferentialSlot
int ctre::phoenix6::controls::DifferentialDutyCycle::DifferentialSlot |
Select which gains are applied to the differential controller 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].
◆ EnableFOC
bool ctre::phoenix6::controls::DifferentialDutyCycle::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.
◆ LimitForwardMotion
bool ctre::phoenix6::controls::DifferentialDutyCycle::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
bool ctre::phoenix6::controls::DifferentialDutyCycle::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.
◆ OverrideBrakeDurNeutral
bool ctre::phoenix6::controls::DifferentialDutyCycle::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.
◆ TargetOutput
units::dimensionless::scalar_t ctre::phoenix6::controls::DifferentialDutyCycle::TargetOutput |
Proportion of supply voltage to apply in fractional units between -1 and +1.
◆ UpdateFreqHz
units::frequency::hertz_t ctre::phoenix6::controls::DifferentialDutyCycle::UpdateFreqHz {100_Hz} |
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.
The documentation for this class was generated from the following file: