CoreTalonFXSetControl(DynamicMotionMagicTorqueCurrentFOC) Method

Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a torque current feedforward. This control requires use of a CANivore.

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

DynamicMotionMagicTorqueCurrentFOC Parameters

  • Position – Position to drive toward in rotations.
  • Velocity – Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  • Acceleration – Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  • Jerk – Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  • FeedForward – Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
  • Slot – Select which gains are applied 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].
  • 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).

Definition

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

Parameters

request  DynamicMotionMagicTorqueCurrentFOC
Control object to request of the device

Return Value

StatusCode
Code response of the request

See Also