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

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:
ctre::phoenix6::controls::ControlRequest

Public Member Functions

 TorqueCurrentFOC (units::current::ampere_t Output, units::dimensionless::scalar_t MaxAbsDutyCycle=1.0, units::current::ampere_t Deadband=0.0_A, bool OverrideCoastDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
 Requires Phoenix Pro; Request a specified motor current (field oriented control). More...
 
TorqueCurrentFOCWithOutput (units::current::ampere_t newOutput)
 Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API. More...
 
TorqueCurrentFOCWithMaxAbsDutyCycle (units::dimensionless::scalar_t newMaxAbsDutyCycle)
 Modifies this Control Request's MaxAbsDutyCycle parameter and returns itself for method-chaining and easier to use request API. More...
 
TorqueCurrentFOCWithDeadband (units::current::ampere_t newDeadband)
 Modifies this Control Request's Deadband parameter and returns itself for method-chaining and easier to use request API. More...
 
TorqueCurrentFOCWithOverrideCoastDurNeutral (bool newOverrideCoastDurNeutral)
 Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chaining and easier to use request API. More...
 
TorqueCurrentFOCWithLimitForwardMotion (bool newLimitForwardMotion)
 Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API. More...
 
TorqueCurrentFOCWithLimitReverseMotion (bool newLimitReverseMotion)
 Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API. More...
 
TorqueCurrentFOCWithUpdateFreqHz (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::current::ampere_t Output
 Amount of motor current in Amperes. More...
 
units::dimensionless::scalar_t MaxAbsDutyCycle
 The maximum absolute motor output that can be applied, which effectively limits the velocity. More...
 
units::current::ampere_t Deadband
 Deadband in Amperes. 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
 
ControlRequestoperator= (ControlRequest const &)=default
 
ControlRequestoperator= (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,
units::dimensionless::scalar_t  MaxAbsDutyCycle = 1.0,
units::current::ampere_t  Deadband = 0.0_A,
bool  OverrideCoastDurNeutral = false,
bool  LimitForwardMotion = false,
bool  LimitReverseMotion = false 
)
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
OutputAmount of motor current in Amperes
MaxAbsDutyCycleThe 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.
DeadbandDeadband 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.
OverrideCoastDurNeutralSet 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).
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::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.

Parameters
newDeadbandParameter 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
newLimitForwardMotionParameter 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
newLimitReverseMotionParameter 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.

Parameters
newMaxAbsDutyCycleParameter 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

Parameters
newOutputParameter 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
newOverrideCoastDurNeutralParameter 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
newUpdateFreqHzParameter to modify
Returns
Itself

Member Data Documentation

◆ Deadband

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

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.

◆ LimitForwardMotion

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

◆ MaxAbsDutyCycle

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

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.

◆ Output

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

Amount of motor current in Amperes.

◆ OverrideCoastDurNeutral

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

◆ 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.


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