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

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:
ctre::phoenix6::controls::ControlRequest

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...
 
MotionMagicVelocityDutyCycleWithVelocity (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...
 
MotionMagicVelocityDutyCycleWithAcceleration (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...
 
MotionMagicVelocityDutyCycleWithEnableFOC (bool newEnableFOC)
 Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API. More...
 
MotionMagicVelocityDutyCycleWithFeedForward (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...
 
MotionMagicVelocityDutyCycleWithSlot (int newSlot)
 Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API. More...
 
MotionMagicVelocityDutyCycleWithOverrideBrakeDurNeutral (bool newOverrideBrakeDurNeutral)
 Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API. More...
 
MotionMagicVelocityDutyCycleWithLimitForwardMotion (bool newLimitForwardMotion)
 Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API. More...
 
MotionMagicVelocityDutyCycleWithLimitReverseMotion (bool newLimitReverseMotion)
 Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API. More...
 
MotionMagicVelocityDutyCycleWithUpdateFreqHz (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
 
ControlRequestoperator= (ControlRequest const &)=default
 
ControlRequestoperator= (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
VelocityTarget velocity to drive toward in rotations per second. This can be changed on-the fly.
AccelerationThis 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.
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
FeedForwardFeedforward to apply in fractional units between -1 and +1.
SlotSelect 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].
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::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.

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.

Parameters
newAccelerationParameter 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.

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

◆ 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.

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

Parameters
newFeedForwardParameter 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.

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()

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.

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()

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.

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

◆ 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.

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].

Parameters
newSlotParameter 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
newUpdateFreqHzParameter 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.

Target velocity to drive toward in rotations per second. This can be changed on-the fly.

Parameters
newVelocityParameter 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: