Requires Phoenix Pro; Request a specified motor current (field oriented control). More...

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

Inheritance diagram for ctre::phoenix6::controls::TorqueCurrentFOC:

Public Member Functions
	TorqueCurrentFOC (units::current::ampere_t Output)
	Requires Phoenix Pro; Request a specified motor current (field oriented control).

TorqueCurrentFOC &	WithOutput (units::current::ampere_t newOutput)
	Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.

TorqueCurrentFOC &	WithMaxAbsDutyCycle (units::dimensionless::scalar_t newMaxAbsDutyCycle)
	Modifies this Control Request's MaxAbsDutyCycle parameter and returns itself for method-chaining and easier to use request API.

TorqueCurrentFOC &	WithDeadband (units::current::ampere_t newDeadband)
	Modifies this Control Request's Deadband parameter and returns itself for method-chaining and easier to use request API.

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

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

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

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

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

TorqueCurrentFOC &	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::current::ampere_t	Output
	Amount of motor current in Amperes.

units::dimensionless::scalar_t	MaxAbsDutyCycle = 1.0
	The maximum absolute motor output that can be applied, which effectively limits the velocity.

units::current::ampere_t	Deadband = 0.0_A
	Deadband in Amperes.

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

Requires Phoenix Pro; Request a specified motor current (field oriented control).

This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.

Constructor & Destructor Documentation

◆ TorqueCurrentFOC()

ctre::phoenix6::controls::TorqueCurrentFOC::TorqueCurrentFOC ( units::current::ampere_t Output )

inline

Requires Phoenix Pro; Request a specified motor current (field oriented control).

This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.

Parameters

Output Amount of motor current in Amperes

Member Function Documentation

◆ GetControlInfo()

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

inlineoverridevirtual

Returns a string representation of the object.

Returns: a string representation of the object.

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

◆ WithDeadband()

TorqueCurrentFOC & ctre::phoenix6::controls::TorqueCurrentFOC::WithDeadband ( units::current::ampere_t newDeadband )

inline

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

Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.

Units: A

Parameters

newDeadband Parameter to modify

Returns: Itself

◆ WithIgnoreHardwareLimits()

TorqueCurrentFOC & ctre::phoenix6::controls::TorqueCurrentFOC::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()

TorqueCurrentFOC & ctre::phoenix6::controls::TorqueCurrentFOC::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()

TorqueCurrentFOC & ctre::phoenix6::controls::TorqueCurrentFOC::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

◆ WithMaxAbsDutyCycle()

TorqueCurrentFOC & ctre::phoenix6::controls::TorqueCurrentFOC::WithMaxAbsDutyCycle ( units::dimensionless::scalar_t newMaxAbsDutyCycle )

inline

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

The maximum absolute motor output that can be applied, which effectively limits the velocity. For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one.

Units: fractional

Parameters

newMaxAbsDutyCycle Parameter to modify

Returns: Itself

◆ WithOutput()

TorqueCurrentFOC & ctre::phoenix6::controls::TorqueCurrentFOC::WithOutput ( units::current::ampere_t newOutput )

inline

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

Amount of motor current in Amperes

Units: A

Parameters

newOutput Parameter to modify

Returns: Itself

◆ WithOverrideCoastDurNeutral()

TorqueCurrentFOC & ctre::phoenix6::controls::TorqueCurrentFOC::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

◆ WithUpdateFreqHz()

TorqueCurrentFOC & ctre::phoenix6::controls::TorqueCurrentFOC::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()

TorqueCurrentFOC & ctre::phoenix6::controls::TorqueCurrentFOC::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

Member Data Documentation

◆ Deadband

units::current::ampere_t ctre::phoenix6::controls::TorqueCurrentFOC::Deadband = 0.0_A

Deadband in Amperes.

If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.

Units: A

◆ IgnoreHardwareLimits

bool ctre::phoenix6::controls::TorqueCurrentFOC::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::TorqueCurrentFOC::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::TorqueCurrentFOC::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.

◆ MaxAbsDutyCycle

units::dimensionless::scalar_t ctre::phoenix6::controls::TorqueCurrentFOC::MaxAbsDutyCycle = 1.0

The maximum absolute motor output that can be applied, which effectively limits the velocity.

For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one.

Units: fractional

◆ Output

units::current::ampere_t ctre::phoenix6::controls::TorqueCurrentFOC::Output

Amount of motor current in Amperes.

Units: A

◆ OverrideCoastDurNeutral

bool ctre::phoenix6::controls::TorqueCurrentFOC::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).

◆ UpdateFreqHz

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

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

ctre/phoenix6/controls/TorqueCurrentFOC.hpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TorqueCurrentFOC()

Member Function Documentation

◆ GetControlInfo()

◆ ToString()

◆ WithDeadband()

◆ WithIgnoreHardwareLimits()

◆ WithLimitForwardMotion()

◆ WithLimitReverseMotion()

◆ WithMaxAbsDutyCycle()

◆ WithOutput()

◆ WithOverrideCoastDurNeutral()

◆ WithUpdateFreqHz()

◆ WithUseTimesync()

Member Data Documentation

◆ Deadband

◆ IgnoreHardwareLimits

◆ LimitForwardMotion

◆ LimitReverseMotion

◆ MaxAbsDutyCycle

◆ Output

◆ OverrideCoastDurNeutral

◆ UpdateFreqHz

◆ UseTimesync