Package com.ctre.phoenix6.controls

Class DifferentialMotionMagicDutyCycle

java.lang.Object
com.ctre.phoenix6.controls.ControlRequest
com.ctre.phoenix6.controls.DifferentialMotionMagicDutyCycle
All Implemented Interfaces:
Cloneable
public class DifferentialMotionMagicDutyCycle
extends ControlRequest
implements Cloneable
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. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

  • Field Details

    • TargetPosition

      public double TargetPosition
      Average position to drive toward in rotations.

    • DifferentialPosition

      public double DifferentialPosition
      Differential position to drive toward in rotations.

    • EnableFOC

      public boolean 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

      public int 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

      public int 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

      public boolean 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.

    • LimitForwardMotion

      public boolean LimitForwardMotion
      Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

    • LimitReverseMotion

      public boolean LimitReverseMotion
      Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

    • UpdateFreqHz

      public double UpdateFreqHz
      The period at which this control will update at. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

      If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

  • Constructor Details

    • DifferentialMotionMagicDutyCycle

      public DifferentialMotionMagicDutyCycle​(double TargetPosition, double DifferentialPosition, boolean EnableFOC, int TargetSlot, int DifferentialSlot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion)
      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. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

      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.
      LimitForwardMotion - Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
      LimitReverseMotion - Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

    • DifferentialMotionMagicDutyCycle

      public DifferentialMotionMagicDutyCycle​(double TargetPosition, double DifferentialPosition)
      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. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

      Parameters:
      TargetPosition - Average position to drive toward in rotations.
      DifferentialPosition - Differential position to drive toward in rotations.

  • Method Details

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • sendRequest

      public StatusCode sendRequest​(String network, int deviceHash, boolean cancelOtherRequests)
      Specified by:
      sendRequest in class ControlRequest

    • getControlInfo

      public Map<String,​String> getControlInfo()
      Gets information about this control request.
      Specified by:
      getControlInfo in class ControlRequest
      Returns:
      Map of control parameter names and corresponding applied values

    • withTargetPosition

      public DifferentialMotionMagicDutyCycle withTargetPosition​(double newTargetPosition)
      Modifies this Control Request's TargetPosition parameter and returns itself for method-chaining and easier to use request API.

      Average position to drive toward in rotations.

      Parameters:
      newTargetPosition - Parameter to modify
      Returns:
      Itself

    • withDifferentialPosition

      public DifferentialMotionMagicDutyCycle withDifferentialPosition​(double newDifferentialPosition)
      Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining and easier to use request API.

      Differential position to drive toward in rotations.

      Parameters:
      newDifferentialPosition - Parameter to modify
      Returns:
      Itself

    • withEnableFOC

      public DifferentialMotionMagicDutyCycle withEnableFOC​(boolean newEnableFOC)
      Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.

      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.

      Parameters:
      newEnableFOC - Parameter to modify
      Returns:
      Itself

    • withTargetSlot

      public DifferentialMotionMagicDutyCycle withTargetSlot​(int newTargetSlot)
      Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easier to use request API.

      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].

      Parameters:
      newTargetSlot - Parameter to modify
      Returns:
      Itself

    • withDifferentialSlot

      public DifferentialMotionMagicDutyCycle withDifferentialSlot​(int newDifferentialSlot)
      Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and easier to use request API.

      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].

      Parameters:
      newDifferentialSlot - Parameter to modify
      Returns:
      Itself

    • withOverrideBrakeDurNeutral

      public DifferentialMotionMagicDutyCycle withOverrideBrakeDurNeutral​(boolean newOverrideBrakeDurNeutral)
      Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.

      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.

      Parameters:
      newOverrideBrakeDurNeutral - Parameter to modify
      Returns:
      Itself

    • withLimitForwardMotion

      public DifferentialMotionMagicDutyCycle withLimitForwardMotion​(boolean newLimitForwardMotion)
      Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API.

      Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

      Parameters:
      newLimitForwardMotion - Parameter to modify
      Returns:
      Itself

    • withLimitReverseMotion

      public DifferentialMotionMagicDutyCycle withLimitReverseMotion​(boolean newLimitReverseMotion)
      Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API.

      Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

      Parameters:
      newLimitReverseMotion - Parameter to modify
      Returns:
      Itself

    • withUpdateFreqHz

      public DifferentialMotionMagicDutyCycle withUpdateFreqHz​(double newUpdateFreqHz)
      Sets the period at which this control will update at. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

      If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

      Parameters:
      newUpdateFreqHz - Parameter to modify
      Returns:
      Itself

    • clone

      public DifferentialMotionMagicDutyCycle clone()
      Overrides:
      clone in class Object