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

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

Inheritance diagram for ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC:

Public Member Functions
	MotionMagicVelocityTorqueCurrentFOC (units::angular_velocity::turns_per_second_t Velocity)
	Requests Motion Magic® to target a final velocity using a motion profile.

MotionMagicVelocityTorqueCurrentFOC &	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.

MotionMagicVelocityTorqueCurrentFOC &	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.

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

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

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

MotionMagicVelocityTorqueCurrentFOC &	WithOverrideCoastDurNeutral (bool newOverrideCoastDurNeutral)
	Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chaining and easier to use request API.

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

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

MotionMagicVelocityTorqueCurrentFOC &	WithIgnoreHardwareLimits (bool newIgnoreHardwareLimits)
	Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining and easier to use request API.

MotionMagicVelocityTorqueCurrentFOC &	WithUseTimesync (bool newUseTimesync)
	Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easier to use request API.

MotionMagicVelocityTorqueCurrentFOC &	WithUpdateFreqHz (units::frequency::hertz_t newUpdateFreqHz)
	Sets the period at which this control will update at.

std::string	ToString () const override
	Returns a string representation of the object.

std::map< std::string, std::string >	GetControlInfo () const override
	Gets information about this control request.

Public Member Functions inherited from ctre::phoenix6::controls::ControlRequest
	ControlRequest (std::string name)
	Constructs a new Control Request with the given name.

std::string const &	GetName () const

virtual	~ControlRequest ()=default

Public Attributes
units::angular_velocity::turns_per_second_t	Velocity
	Target velocity to drive toward in rotations per second.

units::angular_acceleration::turns_per_second_squared_t	Acceleration = 0.0_tr_per_s_sq
	This is the absolute Acceleration to use generating the profile.

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

units::current::ampere_t	FeedForward = 0.0_A
	Feedforward to apply in torque current in Amperes.

int	Slot = 0
	Select which gains are applied by selecting the slot.

bool	OverrideCoastDurNeutral = false
	Set to true to coast the rotor when output is zero (or within deadband).

bool	LimitForwardMotion = false
	Set to true to force forward limiting.

bool	LimitReverseMotion = false
	Set to true to force reverse limiting.

bool	IgnoreHardwareLimits = false
	Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

bool	UseTimesync = false
	Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore).

units::frequency::hertz_t	UpdateFreqHz {100_Hz}
	The period at which this control will update at.

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 torque feedforward.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. 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 based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

Constructor & Destructor Documentation

◆ MotionMagicVelocityTorqueCurrentFOC()

ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::MotionMagicVelocityTorqueCurrentFOC ( units::angular_velocity::turns_per_second_t Velocity )

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 torque feedforward.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. 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 based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

Parameters

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

Member Function Documentation

◆ GetControlInfo()

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

inlineoverridevirtual

Returns a string representation of the object.

Returns: a string representation of the object.

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

◆ WithAcceleration()

MotionMagicVelocityTorqueCurrentFOC & ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::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.

Units: rotations per second²

Parameters

newAcceleration Parameter to modify

Returns: Itself

◆ WithEnableFOC()

MotionMagicVelocityTorqueCurrentFOC & ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::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

newEnableFOC Parameter to modify

Returns: Itself

◆ WithFeedForward()

MotionMagicVelocityTorqueCurrentFOC & ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::WithFeedForward ( units::current::ampere_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 torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.

Units: A

Parameters

newFeedForward Parameter to modify

Returns: Itself

◆ WithIgnoreHardwareLimits()

MotionMagicVelocityTorqueCurrentFOC & ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::WithIgnoreHardwareLimits ( bool newIgnoreHardwareLimits )

inline

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

Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

Parameters

newIgnoreHardwareLimits Parameter to modify

Returns: Itself

◆ WithLimitForwardMotion()

MotionMagicVelocityTorqueCurrentFOC & ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::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

newLimitForwardMotion Parameter to modify

Returns: Itself

◆ WithLimitReverseMotion()

MotionMagicVelocityTorqueCurrentFOC & ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::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

newLimitReverseMotion Parameter to modify

Returns: Itself

◆ WithOverrideCoastDurNeutral()

MotionMagicVelocityTorqueCurrentFOC & ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::WithOverrideCoastDurNeutral ( bool newOverrideCoastDurNeutral )

inline

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

Set to true to coast 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 0A (zero torque).

Parameters

newOverrideCoastDurNeutral Parameter to modify

Returns: Itself

◆ WithSlot()

MotionMagicVelocityTorqueCurrentFOC & ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::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

newSlot Parameter to modify

Returns: Itself

◆ WithUpdateFreqHz()

MotionMagicVelocityTorqueCurrentFOC & ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::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

◆ WithUseTimesync()

MotionMagicVelocityTorqueCurrentFOC & ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::WithUseTimesync ( bool newUseTimesync )

inline

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

Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

newUseTimesync Parameter to modify

Returns: Itself

◆ WithVelocity()

MotionMagicVelocityTorqueCurrentFOC & ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::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.

Units: rotations per second

Parameters

newVelocity Parameter to modify

Returns: Itself

Member Data Documentation

◆ Acceleration

units::angular_acceleration::turns_per_second_squared_t ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::Acceleration = 0.0_tr_per_s_sq

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.

Units: rotations per second²

◆ EnableFOC

bool ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::EnableFOC = true

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::current::ampere_t ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::FeedForward = 0.0_A

Feedforward to apply in torque current in Amperes.

User can use motor's kT to scale Newton-meter to Amperes.

Units: A

◆ IgnoreHardwareLimits

bool ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::IgnoreHardwareLimits = false

Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

◆ LimitForwardMotion

bool ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::LimitForwardMotion = false

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::MotionMagicVelocityTorqueCurrentFOC::LimitReverseMotion = false

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.

◆ OverrideCoastDurNeutral

bool ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::OverrideCoastDurNeutral = false

Set to true to coast 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 0A (zero torque).

◆ Slot

int ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::Slot = 0

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::MotionMagicVelocityTorqueCurrentFOC::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.

◆ UseTimesync

bool ctre::phoenix6::controls::MotionMagicVelocityTorqueCurrentFOC::UseTimesync = false

Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore).

This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

◆ Velocity

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

Target velocity to drive toward in rotations per second.

This can be changed on-the fly.

Units: rotations per second

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

ctre/phoenix6/controls/MotionMagicVelocityTorqueCurrentFOC.hpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MotionMagicVelocityTorqueCurrentFOC()

Member Function Documentation

◆ GetControlInfo()

◆ ToString()

◆ WithAcceleration()

◆ WithEnableFOC()

◆ WithFeedForward()

◆ WithIgnoreHardwareLimits()

◆ WithLimitForwardMotion()

◆ WithLimitReverseMotion()

◆ WithOverrideCoastDurNeutral()

◆ WithSlot()

◆ WithUpdateFreqHz()

◆ WithUseTimesync()

◆ WithVelocity()

Member Data Documentation

◆ Acceleration

◆ EnableFOC

◆ FeedForward

◆ IgnoreHardwareLimits

◆ LimitForwardMotion

◆ LimitReverseMotion

◆ OverrideCoastDurNeutral

◆ Slot

◆ UpdateFreqHz

◆ UseTimesync

◆ Velocity