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

Request a specified motor duty cycle. More...

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

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

Public Member Functions

 DutyCycleOut (units::dimensionless::scalar_t Output, bool EnableFOC=true, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
 Request a specified motor duty cycle. More...
 
DutyCycleOutWithOutput (units::dimensionless::scalar_t newOutput)
 Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API. More...
 
DutyCycleOutWithEnableFOC (bool newEnableFOC)
 Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API. More...
 
DutyCycleOutWithOverrideBrakeDurNeutral (bool newOverrideBrakeDurNeutral)
 Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API. More...
 
DutyCycleOutWithLimitForwardMotion (bool newLimitForwardMotion)
 Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API. More...
 
DutyCycleOutWithLimitReverseMotion (bool newLimitReverseMotion)
 Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API. More...
 
DutyCycleOutWithUpdateFreqHz (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::dimensionless::scalar_t Output
 Proportion of supply voltage to apply in fractional units between -1 and +1. More...
 
bool EnableFOC
 Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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 a specified motor duty cycle.

This control mode will output a proportion of the supplied voltage which is supplied by the user.

Constructor & Destructor Documentation

◆ DutyCycleOut()

ctre::phoenix6::controls::DutyCycleOut::DutyCycleOut ( units::dimensionless::scalar_t  Output,
bool  EnableFOC = true,
bool  OverrideBrakeDurNeutral = false,
bool  LimitForwardMotion = false,
bool  LimitReverseMotion = false 
)
inline

Request a specified motor duty cycle.

This control mode will output a proportion of the supplied voltage which is supplied by the user.

Parameters
OutputProportion of supply voltage to apply in fractional units between -1 and +1
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
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::DutyCycleOut::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::DutyCycleOut::ToString ( ) const
inlineoverridevirtual

Returns a string representation of the object.

Returns
a string representation of the object.

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

◆ WithEnableFOC()

DutyCycleOut & ctre::phoenix6::controls::DutyCycleOut::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()

DutyCycleOut & ctre::phoenix6::controls::DutyCycleOut::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()

DutyCycleOut & ctre::phoenix6::controls::DutyCycleOut::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

◆ WithOutput()

DutyCycleOut & ctre::phoenix6::controls::DutyCycleOut::WithOutput ( units::dimensionless::scalar_t  newOutput)
inline

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

Proportion of supply voltage to apply in fractional units between -1 and +1

Parameters
newOutputParameter to modify
Returns
Itself

◆ WithOverrideBrakeDurNeutral()

DutyCycleOut & ctre::phoenix6::controls::DutyCycleOut::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

◆ WithUpdateFreqHz()

DutyCycleOut & ctre::phoenix6::controls::DutyCycleOut::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

◆ EnableFOC

bool ctre::phoenix6::controls::DutyCycleOut::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::DutyCycleOut::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::DutyCycleOut::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.

◆ Output

units::dimensionless::scalar_t ctre::phoenix6::controls::DutyCycleOut::Output

Proportion of supply voltage to apply in fractional units between -1 and +1.

◆ OverrideBrakeDurNeutral

bool ctre::phoenix6::controls::DutyCycleOut::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.

◆ UpdateFreqHz

units::frequency::hertz_t ctre::phoenix6::controls::DutyCycleOut::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: