CoreTalonFXSetControl(VelocityTorqueCurrentFOC) Method

Request PID to target velocity with torque current feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

VelocityTorqueCurrentFOC Parameters

  • Velocity – Velocity to drive toward in rotations per second.
  • Acceleration – Acceleration to drive toward in rotations per second squared.
  • 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(
	VelocityTorqueCurrentFOC request
)

Parameters

request  VelocityTorqueCurrentFOC
Control object to request of the device

Return Value

StatusCode
Code response of the request

See Also