Requires Phoenix Pro; Request PID to target position with torque current feedforward. More...

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

Inheritance diagram for ctre::phoenix6::controls::PositionTorqueCurrentFOC:

Public Member Functions
	PositionTorqueCurrentFOC (units::angle::turn_t Position, units::angular_velocity::turns_per_second_t Velocity=0.0_tps, units::current::ampere_t FeedForward=0.0_A, int Slot=0, bool OverrideCoastDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
	Requires Phoenix Pro; Request PID to target position with torque current feedforward. More...

PositionTorqueCurrentFOC &	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...

PositionTorqueCurrentFOC &	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...

PositionTorqueCurrentFOC &	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. More...

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

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

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

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

PositionTorqueCurrentFOC &	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...

units::angular_velocity::turns_per_second_t	Velocity
	Velocity to drive toward in rotations per second. More...

units::current::ampere_t	FeedForward
	Feedforward to apply in torque current in Amperes. More...

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

bool	OverrideCoastDurNeutral
	Set to true to coast 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

Requires Phoenix Pro; Request PID to target position with torque current feedforward.

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

Constructor & Destructor Documentation

◆ PositionTorqueCurrentFOC()

ctre::phoenix6::controls::PositionTorqueCurrentFOC::PositionTorqueCurrentFOC	(	units::angle::turn_t	Position,
		units::angular_velocity::turns_per_second_t	Velocity = `0.0_tps`,
		units::current::ampere_t	FeedForward = `0.0_A`,
		int	Slot = `0`,
		bool	OverrideCoastDurNeutral = `false`,
		bool	LimitForwardMotion = `false`,
		bool	LimitReverseMotion = `false`
	)

inline

Requires Phoenix Pro; Request PID to target position with torque current feedforward.

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

Parameters

Position	Position to drive toward in rotations.
Velocity	Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.
FeedForward	Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
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].
OverrideCoastDurNeutral	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).
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::PositionTorqueCurrentFOC::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::PositionTorqueCurrentFOC::ToString ( ) const

inlineoverridevirtual

Returns a string representation of the object.

Returns: a string representation of the object.

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

◆ WithFeedForward()

PositionTorqueCurrentFOC & ctre::phoenix6::controls::PositionTorqueCurrentFOC::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.

Parameters

newFeedForward Parameter to modify

Returns: Itself

◆ WithLimitForwardMotion()

PositionTorqueCurrentFOC & ctre::phoenix6::controls::PositionTorqueCurrentFOC::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()

PositionTorqueCurrentFOC & ctre::phoenix6::controls::PositionTorqueCurrentFOC::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()

PositionTorqueCurrentFOC & ctre::phoenix6::controls::PositionTorqueCurrentFOC::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

◆ WithPosition()

PositionTorqueCurrentFOC & ctre::phoenix6::controls::PositionTorqueCurrentFOC::WithPosition ( units::angle::turn_t newPosition )

inline

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.

Parameters

newPosition Parameter to modify

Returns: Itself

◆ WithSlot()

PositionTorqueCurrentFOC & ctre::phoenix6::controls::PositionTorqueCurrentFOC::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()

PositionTorqueCurrentFOC & ctre::phoenix6::controls::PositionTorqueCurrentFOC::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()

PositionTorqueCurrentFOC & ctre::phoenix6::controls::PositionTorqueCurrentFOC::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.

Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.

Parameters

newVelocity Parameter to modify

Returns: Itself

Member Data Documentation

◆ FeedForward

units::current::ampere_t ctre::phoenix6::controls::PositionTorqueCurrentFOC::FeedForward

Feedforward to apply in torque current in Amperes.

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

◆ LimitForwardMotion

bool ctre::phoenix6::controls::PositionTorqueCurrentFOC::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::PositionTorqueCurrentFOC::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.

◆ OverrideCoastDurNeutral

bool ctre::phoenix6::controls::PositionTorqueCurrentFOC::OverrideCoastDurNeutral

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).

◆ Position

units::angle::turn_t ctre::phoenix6::controls::PositionTorqueCurrentFOC::Position

Position to drive toward in rotations.

◆ Slot

int ctre::phoenix6::controls::PositionTorqueCurrentFOC::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::PositionTorqueCurrentFOC::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::PositionTorqueCurrentFOC::Velocity

Velocity to drive toward in rotations per second.

This is typically used for motion profiles generated by the robot program.

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

ctre/phoenix6/controls/PositionTorqueCurrentFOC.hpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PositionTorqueCurrentFOC()

Member Function Documentation

◆ GetControlInfo()

◆ ToString()

◆ WithFeedForward()

◆ WithLimitForwardMotion()

◆ WithLimitReverseMotion()

◆ WithOverrideCoastDurNeutral()

◆ WithPosition()

◆ WithSlot()

◆ WithUpdateFreqHz()

◆ WithVelocity()

Member Data Documentation

◆ FeedForward

◆ LimitForwardMotion

◆ LimitReverseMotion

◆ OverrideCoastDurNeutral

◆ Position

◆ Slot

◆ UpdateFreqHz

◆ Velocity