Requests Motion Magic® to target a final velocity using a motion profile. More...

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

Inheritance diagram for ctre::phoenix6::controls::MotionMagicVelocityDutyCycle:

Public Member Functions
	MotionMagicVelocityDutyCycle (units::angular_velocity::turns_per_second_t Velocity, units::angular_acceleration::turns_per_second_squared_t Acceleration=0.0_tr_per_s_sq, bool EnableFOC=true, units::dimensionless::scalar_t FeedForward=0.0, int Slot=0, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
	Requests Motion Magic® to target a final velocity using a motion profile. More...

MotionMagicVelocityDutyCycle &	WithVelocity (units::angular_velocity::turns_per_second_t newVelocity)
	Modifies this Control Request's Velocity parameter and returns itself for method-chaining and easier to use request API. More...

MotionMagicVelocityDutyCycle &	WithAcceleration (units::angular_acceleration::turns_per_second_squared_t newAcceleration)
	Modifies this Control Request's Acceleration parameter and returns itself for method-chaining and easier to use request API. More...

MotionMagicVelocityDutyCycle &	WithEnableFOC (bool newEnableFOC)
	Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API. More...

MotionMagicVelocityDutyCycle &	WithFeedForward (units::dimensionless::scalar_t newFeedForward)
	Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API. More...

MotionMagicVelocityDutyCycle &	WithSlot (int newSlot)
	Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API. More...

MotionMagicVelocityDutyCycle &	WithOverrideBrakeDurNeutral (bool newOverrideBrakeDurNeutral)
	Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API. More...

MotionMagicVelocityDutyCycle &	WithLimitForwardMotion (bool newLimitForwardMotion)
	Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API. More...

MotionMagicVelocityDutyCycle &	WithLimitReverseMotion (bool newLimitReverseMotion)
	Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API. More...

MotionMagicVelocityDutyCycle &	WithUpdateFreqHz (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::angular_velocity::turns_per_second_t	Velocity
	Target velocity to drive toward in rotations per second. More...

units::angular_acceleration::turns_per_second_squared_t	Acceleration
	This is the absolute Acceleration to use generating the profile. More...

bool	EnableFOC
	Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. More...

units::dimensionless::scalar_t	FeedForward
	Feedforward to apply in fractional units between -1 and +1. More...

int	Slot
	Select which gains are applied 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

ControlRequest &	operator= (ControlRequest const &)=default

ControlRequest &	operator= (ControlRequest &&)=default

Protected Attributes inherited from ctre::phoenix6::controls::ControlRequest
std::string	name

Detailed Description

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 duty cycle feedforward.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and Jerk value. 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 duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

Constructor & Destructor Documentation

◆ MotionMagicVelocityDutyCycle()

ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::MotionMagicVelocityDutyCycle	(	units::angular_velocity::turns_per_second_t	Velocity,
		units::angular_acceleration::turns_per_second_squared_t	Acceleration = `0.0_tr_per_s_sq`,
		bool	EnableFOC = `true`,
		units::dimensionless::scalar_t	FeedForward = `0.0`,
		int	Slot = `0`,
		bool	OverrideBrakeDurNeutral = `false`,
		bool	LimitForwardMotion = `false`,
		bool	LimitReverseMotion = `false`
	)

inline

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 duty cycle feedforward.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and Jerk value. 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 duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

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 fractional units between -1 and +1.
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].
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.

Member Function Documentation

◆ GetControlInfo()

std::map< std::string, std::string > ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::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::MotionMagicVelocityDutyCycle::ToString ( ) const

inlineoverridevirtual

Returns a string representation of the object.

Returns: a string representation of the object.

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

◆ WithAcceleration()

MotionMagicVelocityDutyCycle & ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::WithAcceleration ( units::angular_acceleration::turns_per_second_squared_t newAcceleration )

inline

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

Parameters

newAcceleration Parameter to modify

Returns: Itself

◆ WithEnableFOC()

MotionMagicVelocityDutyCycle & ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::WithEnableFOC ( bool newEnableFOC )

inline

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

Parameters

newEnableFOC Parameter to modify

Returns: Itself

◆ WithFeedForward()

MotionMagicVelocityDutyCycle & ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::WithFeedForward ( units::dimensionless::scalar_t newFeedForward )

inline

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

Parameters

newFeedForward Parameter to modify

Returns: Itself

◆ WithLimitForwardMotion()

MotionMagicVelocityDutyCycle & ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::WithLimitForwardMotion ( bool newLimitForwardMotion )

inline

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

Parameters

newLimitForwardMotion Parameter to modify

Returns: Itself

◆ WithLimitReverseMotion()

MotionMagicVelocityDutyCycle & ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::WithLimitReverseMotion ( bool newLimitReverseMotion )

inline

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

Parameters

newLimitReverseMotion Parameter to modify

Returns: Itself

◆ WithOverrideBrakeDurNeutral()

MotionMagicVelocityDutyCycle & ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::WithOverrideBrakeDurNeutral ( bool newOverrideBrakeDurNeutral )

inline

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

Parameters

newOverrideBrakeDurNeutral Parameter to modify

Returns: Itself

◆ WithSlot()

MotionMagicVelocityDutyCycle & ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::WithSlot ( int newSlot )

inline

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

Parameters

newSlot Parameter to modify

Returns: Itself

◆ WithUpdateFreqHz()

MotionMagicVelocityDutyCycle & ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::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

newUpdateFreqHz Parameter to modify

Returns: Itself

◆ WithVelocity()

MotionMagicVelocityDutyCycle & ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::WithVelocity ( units::angular_velocity::turns_per_second_t newVelocity )

inline

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

Parameters

newVelocity Parameter to modify

Returns: Itself

Member Data Documentation

◆ Acceleration

units::angular_acceleration::turns_per_second_squared_t ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::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

bool ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::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

units::dimensionless::scalar_t ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::FeedForward

Feedforward to apply in fractional units between -1 and +1.

◆ LimitForwardMotion

bool ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::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::MotionMagicVelocityDutyCycle::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::MotionMagicVelocityDutyCycle::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.

◆ Slot

int ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::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].

◆ UpdateFreqHz

units::frequency::hertz_t ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::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.

◆ Velocity

units::angular_velocity::turns_per_second_t ctre::phoenix6::controls::MotionMagicVelocityDutyCycle::Velocity

Target velocity to drive toward in rotations per second.

This can be changed on-the fly.

The documentation for this class was generated from the following file:

ctre/phoenix6/controls/MotionMagicVelocityDutyCycle.hpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MotionMagicVelocityDutyCycle()

Member Function Documentation

◆ GetControlInfo()

◆ ToString()

◆ WithAcceleration()

◆ WithEnableFOC()

◆ WithFeedForward()

◆ WithLimitForwardMotion()

◆ WithLimitReverseMotion()

◆ WithOverrideBrakeDurNeutral()

◆ WithSlot()

◆ WithUpdateFreqHz()

◆ WithVelocity()

Member Data Documentation

◆ Acceleration

◆ EnableFOC

◆ FeedForward

◆ LimitForwardMotion

◆ LimitReverseMotion

◆ OverrideBrakeDurNeutral

◆ Slot

◆ UpdateFreqHz

◆ Velocity