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, 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...

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. More...

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. More...

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. More...

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

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

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

TorqueCurrentFOC &	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::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

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,
		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

Output	Amount of motor current in Amperes
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.
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.
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::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

newDeadband 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.

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

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

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:

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()

◆ WithLimitForwardMotion()

◆ WithLimitReverseMotion()

◆ WithMaxAbsDutyCycle()

◆ WithOutput()

◆ WithOverrideCoastDurNeutral()

◆ WithUpdateFreqHz()

Member Data Documentation

◆ Deadband

◆ LimitForwardMotion

◆ LimitReverseMotion

◆ MaxAbsDutyCycle

◆ Output

◆ OverrideCoastDurNeutral

◆ UpdateFreqHz