Requires Phoenix Pro; Request a specified motor current (field oriented control).
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#include <ctre/phoenix6/controls/TorqueCurrentFOC.hpp>
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.
◆ TorqueCurrentFOC()
ctre::phoenix6::controls::TorqueCurrentFOC::TorqueCurrentFOC |
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units::current::ampere_t |
Output, |
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units::dimensionless::scalar_t |
MaxAbsDutyCycle = 1.0 , |
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units::current::ampere_t |
Deadband = 0.0_A , |
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bool |
OverrideCoastDurNeutral = false , |
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bool |
LimitForwardMotion = false , |
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bool |
LimitReverseMotion = false |
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) |
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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
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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. |
◆ GetControlInfo()
std::map< std::string, std::string > ctre::phoenix6::controls::TorqueCurrentFOC::GetControlInfo |
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const |
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inlineoverridevirtual |
◆ ToString()
std::string ctre::phoenix6::controls::TorqueCurrentFOC::ToString |
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const |
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inlineoverridevirtual |
◆ WithDeadband()
TorqueCurrentFOC & ctre::phoenix6::controls::TorqueCurrentFOC::WithDeadband |
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units::current::ampere_t |
newDeadband | ) |
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inline |
Modifies this Control Request's Deadband parameter and returns itself for method-chaining and easier to use request API.
- Parameters
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newDeadband | Parameter to modify |
- Returns
- Itself
◆ WithLimitForwardMotion()
TorqueCurrentFOC & ctre::phoenix6::controls::TorqueCurrentFOC::WithLimitForwardMotion |
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bool |
newLimitForwardMotion | ) |
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inline |
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API.
- Parameters
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newLimitForwardMotion | Parameter to modify |
- Returns
- Itself
◆ WithLimitReverseMotion()
TorqueCurrentFOC & ctre::phoenix6::controls::TorqueCurrentFOC::WithLimitReverseMotion |
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bool |
newLimitReverseMotion | ) |
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inline |
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API.
- Parameters
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newLimitReverseMotion | Parameter to modify |
- Returns
- Itself
◆ WithMaxAbsDutyCycle()
TorqueCurrentFOC & ctre::phoenix6::controls::TorqueCurrentFOC::WithMaxAbsDutyCycle |
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units::dimensionless::scalar_t |
newMaxAbsDutyCycle | ) |
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inline |
Modifies this Control Request's MaxAbsDutyCycle parameter and returns itself for method-chaining and easier to use request API.
- Parameters
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newMaxAbsDutyCycle | Parameter to modify |
- Returns
- Itself
◆ WithOutput()
TorqueCurrentFOC & ctre::phoenix6::controls::TorqueCurrentFOC::WithOutput |
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units::current::ampere_t |
newOutput | ) |
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inline |
Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.
- Parameters
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newOutput | Parameter to modify |
- Returns
- Itself
◆ WithOverrideCoastDurNeutral()
TorqueCurrentFOC & ctre::phoenix6::controls::TorqueCurrentFOC::WithOverrideCoastDurNeutral |
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bool |
newOverrideCoastDurNeutral | ) |
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inline |
Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chaining and easier to use request API.
- Parameters
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newOverrideCoastDurNeutral | Parameter to modify |
- Returns
- Itself
◆ WithUpdateFreqHz()
TorqueCurrentFOC & ctre::phoenix6::controls::TorqueCurrentFOC::WithUpdateFreqHz |
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units::frequency::hertz_t |
newUpdateFreqHz | ) |
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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
◆ 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: