CTRE Phoenix 6 C++ 24.3.0
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Requests Motion Magic® to target a final position using a motion profile. More...
#include <ctre/phoenix6/controls/MotionMagicVoltage.hpp>
Public Member Functions | |
MotionMagicVoltage (units::angle::turn_t Position, bool EnableFOC=true, units::voltage::volt_t FeedForward=0.0_V, int Slot=0, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false) | |
Requests Motion Magic® to target a final position using a motion profile. More... | |
MotionMagicVoltage & | WithPosition (units::angle::turn_t newPosition) |
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier to use request API. More... | |
MotionMagicVoltage & | WithEnableFOC (bool newEnableFOC) |
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API. More... | |
MotionMagicVoltage & | WithFeedForward (units::voltage::volt_t newFeedForward) |
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API. More... | |
MotionMagicVoltage & | WithSlot (int newSlot) |
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API. More... | |
MotionMagicVoltage & | WithOverrideBrakeDurNeutral (bool newOverrideBrakeDurNeutral) |
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API. More... | |
MotionMagicVoltage & | WithLimitForwardMotion (bool newLimitForwardMotion) |
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API. More... | |
MotionMagicVoltage & | WithLimitReverseMotion (bool newLimitReverseMotion) |
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API. More... | |
MotionMagicVoltage & | 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::angle::turn_t | Position |
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... | |
units::voltage::volt_t | FeedForward |
Feedforward to apply in volts. 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 |
Requests Motion Magic® to target a final position using a motion profile.
Users can optionally provide a voltage feedforward.
Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.
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inline |
Requests Motion Magic® to target a final position using a motion profile.
Users can optionally provide a voltage feedforward.
Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.
Position | Position to drive toward in rotations. |
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 volts |
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. |
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inlineoverridevirtual |
Gets information about this control request.
Implements ctre::phoenix6::controls::ControlRequest.
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inlineoverridevirtual |
Returns a string representation of the object.
Implements ctre::phoenix6::controls::ControlRequest.
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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.
newEnableFOC | Parameter to modify |
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Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.
Feedforward to apply in volts
newFeedForward | Parameter to modify |
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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.
newLimitForwardMotion | Parameter to modify |
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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.
newLimitReverseMotion | Parameter to modify |
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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.
newOverrideBrakeDurNeutral | Parameter to modify |
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Modifies this Control Request's Position parameter and returns itself for method-chaining and easier to use request API.
Position to drive toward in rotations.
newPosition | Parameter to modify |
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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].
newSlot | Parameter to modify |
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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.
newUpdateFreqHz | Parameter to modify |
bool ctre::phoenix6::controls::MotionMagicVoltage::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.
units::voltage::volt_t ctre::phoenix6::controls::MotionMagicVoltage::FeedForward |
Feedforward to apply in volts.
bool ctre::phoenix6::controls::MotionMagicVoltage::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.
bool ctre::phoenix6::controls::MotionMagicVoltage::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.
bool ctre::phoenix6::controls::MotionMagicVoltage::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.
units::angle::turn_t ctre::phoenix6::controls::MotionMagicVoltage::Position |
Position to drive toward in rotations.
int ctre::phoenix6::controls::MotionMagicVoltage::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].
units::frequency::hertz_t ctre::phoenix6::controls::MotionMagicVoltage::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.