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).
Namespace: CTRE.Phoenix6.Hardware.CoreAssembly: Phoenix6 (in Phoenix6.dll) Version: 1.0.0
public StatusCode SetControl(
DynamicMotionMagicTorqueCurrentFOC request
)
member SetControl :
request : DynamicMotionMagicTorqueCurrentFOC -> StatusCode
- request DynamicMotionMagicTorqueCurrentFOC
- Control object to request of the device
StatusCodeCode response of the request