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