CoreTalonFXSetControl(DifferentialMotionMagicVoltage) Method

Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

DifferentialMotionMagicVoltage Parameters

  • TargetPosition – Average position to drive toward in rotations.
  • DifferentialPosition – Differential position to drive toward in rotations.
  • EnableFOC – Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
  • TargetSlot – Select which gains are applied to the primary controller 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].
  • DifferentialSlot – Select which gains are applied to the differential controller 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].
  • OverrideBrakeDurNeutral – Set to true to static-brake 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 0V to the motor.

Definition

Namespace: CTRE.Phoenix6.Hardware.Core
Assembly: Phoenix6 (in Phoenix6.dll) Version: 1.0.0
C#
public StatusCode SetControl(
	DifferentialMotionMagicVoltage request
)

Parameters

request  DifferentialMotionMagicVoltage
Control object to request of the device

Return Value

StatusCode
Code response of the request

See Also