CTRE Phoenix 6 C++ 24.3.0
ctre::phoenix6::controls::DifferentialPositionDutyCycle Class Reference

Request PID to target position with a differential position setpoint. More...

#include <ctre/phoenix6/controls/DifferentialPositionDutyCycle.hpp>

Inheritance diagram for ctre::phoenix6::controls::DifferentialPositionDutyCycle:
ctre::phoenix6::controls::ControlRequest

Public Member Functions

 DifferentialPositionDutyCycle (units::angle::turn_t TargetPosition, units::angle::turn_t DifferentialPosition, bool EnableFOC=true, int TargetSlot=0, int DifferentialSlot=1, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
 Request PID to target position with a differential position setpoint. More...
 
DifferentialPositionDutyCycleWithTargetPosition (units::angle::turn_t newTargetPosition)
 Modifies this Control Request's TargetPosition parameter and returns itself for method-chaining and easier to use request API. More...
 
DifferentialPositionDutyCycleWithDifferentialPosition (units::angle::turn_t newDifferentialPosition)
 Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining and easier to use request API. More...
 
DifferentialPositionDutyCycleWithEnableFOC (bool newEnableFOC)
 Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API. More...
 
DifferentialPositionDutyCycleWithTargetSlot (int newTargetSlot)
 Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easier to use request API. More...
 
DifferentialPositionDutyCycleWithDifferentialSlot (int newDifferentialSlot)
 Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and easier to use request API. More...
 
DifferentialPositionDutyCycleWithOverrideBrakeDurNeutral (bool newOverrideBrakeDurNeutral)
 Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API. More...
 
DifferentialPositionDutyCycleWithLimitForwardMotion (bool newLimitForwardMotion)
 Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API. More...
 
DifferentialPositionDutyCycleWithLimitReverseMotion (bool newLimitReverseMotion)
 Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API. More...
 
DifferentialPositionDutyCycleWithUpdateFreqHz (units::frequency::hertz_t newUpdateFreqHz)
 Sets the period at which this control will update at. More...
 
std::string ToString () const override
 Returns a string representation of the object. More...
 
std::map< std::string, std::string > GetControlInfo () const override
 Gets information about this control request. More...
 
- Public Member Functions inherited from ctre::phoenix6::controls::ControlRequest
 ControlRequest (std::string name)
 Constructs a new Control Request with the given name. More...
 
std::string const & GetName () const
 
virtual std::map< std::string, std::string > GetControlInfo () const =0
 Gets information about this control request. More...
 
virtual ~ControlRequest ()=default
 
virtual std::string ToString () const =0
 

Public Attributes

units::angle::turn_t TargetPosition
 Average position to drive toward in rotations. More...
 
units::angle::turn_t DifferentialPosition
 Differential position to drive toward in rotations. More...
 
bool EnableFOC
 Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. More...
 
int TargetSlot
 Select which gains are applied to the primary controller by selecting the slot. More...
 
int DifferentialSlot
 Select which gains are applied to the differential controller by selecting the slot. More...
 
bool OverrideBrakeDurNeutral
 Set to true to static-brake the rotor when output is zero (or within deadband). More...
 
bool LimitForwardMotion
 Set to true to force forward limiting. More...
 
bool LimitReverseMotion
 Set to true to force reverse limiting. More...
 
units::frequency::hertz_t UpdateFreqHz {100_Hz}
 The period at which this control will update at. More...
 

Additional Inherited Members

- Protected Member Functions inherited from ctre::phoenix6::controls::ControlRequest
 ControlRequest (ControlRequest const &)=default
 
 ControlRequest (ControlRequest &&)=default
 
ControlRequestoperator= (ControlRequest const &)=default
 
ControlRequestoperator= (ControlRequest &&)=default
 
- Protected Attributes inherited from ctre::phoenix6::controls::ControlRequest
std::string name
 

Detailed Description

Request PID to target position with a differential position setpoint.

This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.

Constructor & Destructor Documentation

◆ DifferentialPositionDutyCycle()

ctre::phoenix6::controls::DifferentialPositionDutyCycle::DifferentialPositionDutyCycle ( units::angle::turn_t  TargetPosition,
units::angle::turn_t  DifferentialPosition,
bool  EnableFOC = true,
int  TargetSlot = 0,
int  DifferentialSlot = 1,
bool  OverrideBrakeDurNeutral = false,
bool  LimitForwardMotion = false,
bool  LimitReverseMotion = false 
)
inline

Request PID to target position with a differential position setpoint.

This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.

Parameters
TargetPositionAverage position to drive toward in rotations.
DifferentialPositionDifferential position to drive toward in rotations.
EnableFOCSet 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
TargetSlotSelect which gains are applied to the primary 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].
DifferentialSlotSelect 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].
OverrideBrakeDurNeutralSet 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.
LimitForwardMotionSet 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.
LimitReverseMotionSet 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.

Member Function Documentation

◆ GetControlInfo()

std::map< std::string, std::string > ctre::phoenix6::controls::DifferentialPositionDutyCycle::GetControlInfo ( ) const
inlineoverridevirtual

Gets information about this control request.

Returns
Map of control parameter names and corresponding applied values

Implements ctre::phoenix6::controls::ControlRequest.

◆ ToString()

std::string ctre::phoenix6::controls::DifferentialPositionDutyCycle::ToString ( ) const
inlineoverridevirtual

Returns a string representation of the object.

Returns
a string representation of the object.

Implements ctre::phoenix6::controls::ControlRequest.

◆ WithDifferentialPosition()

DifferentialPositionDutyCycle & ctre::phoenix6::controls::DifferentialPositionDutyCycle::WithDifferentialPosition ( units::angle::turn_t  newDifferentialPosition)
inline

Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining and easier to use request API.

Differential position to drive toward in rotations.

Parameters
newDifferentialPositionParameter to modify
Returns
Itself

◆ WithDifferentialSlot()

DifferentialPositionDutyCycle & ctre::phoenix6::controls::DifferentialPositionDutyCycle::WithDifferentialSlot ( int  newDifferentialSlot)
inline

Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and easier to use request API.

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].

Parameters
newDifferentialSlotParameter to modify
Returns
Itself

◆ WithEnableFOC()

DifferentialPositionDutyCycle & ctre::phoenix6::controls::DifferentialPositionDutyCycle::WithEnableFOC ( bool  newEnableFOC)
inline

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
newEnableFOCParameter to modify
Returns
Itself

◆ WithLimitForwardMotion()

DifferentialPositionDutyCycle & ctre::phoenix6::controls::DifferentialPositionDutyCycle::WithLimitForwardMotion ( bool  newLimitForwardMotion)
inline

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
newLimitForwardMotionParameter to modify
Returns
Itself

◆ WithLimitReverseMotion()

DifferentialPositionDutyCycle & ctre::phoenix6::controls::DifferentialPositionDutyCycle::WithLimitReverseMotion ( bool  newLimitReverseMotion)
inline

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
newLimitReverseMotionParameter to modify
Returns
Itself

◆ WithOverrideBrakeDurNeutral()

DifferentialPositionDutyCycle & ctre::phoenix6::controls::DifferentialPositionDutyCycle::WithOverrideBrakeDurNeutral ( bool  newOverrideBrakeDurNeutral)
inline

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
newOverrideBrakeDurNeutralParameter to modify
Returns
Itself

◆ WithTargetPosition()

DifferentialPositionDutyCycle & ctre::phoenix6::controls::DifferentialPositionDutyCycle::WithTargetPosition ( units::angle::turn_t  newTargetPosition)
inline

Modifies this Control Request's TargetPosition parameter and returns itself for method-chaining and easier to use request API.

Average position to drive toward in rotations.

Parameters
newTargetPositionParameter to modify
Returns
Itself

◆ WithTargetSlot()

DifferentialPositionDutyCycle & ctre::phoenix6::controls::DifferentialPositionDutyCycle::WithTargetSlot ( int  newTargetSlot)
inline

Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easier to use request API.

Select which gains are applied to the primary 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].

Parameters
newTargetSlotParameter to modify
Returns
Itself

◆ WithUpdateFreqHz()

DifferentialPositionDutyCycle & ctre::phoenix6::controls::DifferentialPositionDutyCycle::WithUpdateFreqHz ( units::frequency::hertz_t  newUpdateFreqHz)
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
newUpdateFreqHzParameter to modify
Returns
Itself

Member Data Documentation

◆ DifferentialPosition

units::angle::turn_t ctre::phoenix6::controls::DifferentialPositionDutyCycle::DifferentialPosition

Differential position to drive toward in rotations.

◆ DifferentialSlot

int ctre::phoenix6::controls::DifferentialPositionDutyCycle::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::DifferentialPositionDutyCycle::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::DifferentialPositionDutyCycle::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::DifferentialPositionDutyCycle::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::DifferentialPositionDutyCycle::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.

◆ TargetPosition

units::angle::turn_t ctre::phoenix6::controls::DifferentialPositionDutyCycle::TargetPosition

Average position to drive toward in rotations.

◆ TargetSlot

int ctre::phoenix6::controls::DifferentialPositionDutyCycle::TargetSlot

Select which gains are applied to the primary 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].

◆ UpdateFreqHz

units::frequency::hertz_t ctre::phoenix6::controls::DifferentialPositionDutyCycle::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: