Class DifferentialPositionDutyCycle
- All Implemented Interfaces:
Cloneable
public class DifferentialPositionDutyCycle extends ControlRequest implements Cloneable
This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.
-
Field Summary
Fields Modifier and Type Field Description double
DifferentialPosition
Differential position to drive toward in rotations.int
DifferentialSlot
Select which gains are applied to the differential controller by selecting the slot.boolean
EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.boolean
LimitForwardMotion
Set to true to force forward limiting.boolean
LimitReverseMotion
Set to true to force reverse limiting.boolean
OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).double
TargetPosition
Average position to drive toward in rotations.int
TargetSlot
Select which gains are applied to the primary controller by selecting the slot.double
UpdateFreqHz
The period at which this control will update at. -
Constructor Summary
Constructors Constructor Description DifferentialPositionDutyCycle(double TargetPosition, double DifferentialPosition)
Request PID to target position with a differential position setpoint.DifferentialPositionDutyCycle(double TargetPosition, double DifferentialPosition, boolean EnableFOC, int TargetSlot, int DifferentialSlot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion)
Request PID to target position with a differential position setpoint. -
Method Summary
Modifier and Type Method Description DifferentialPositionDutyCycle
clone()
Map<String,String>
getControlInfo()
Gets information about this control request.StatusCode
sendRequest(String network, int deviceHash, boolean cancelOtherRequests)
String
toString()
DifferentialPositionDutyCycle
withDifferentialPosition(double newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining and easier to use request API.DifferentialPositionDutyCycle
withDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and easier to use request API.DifferentialPositionDutyCycle
withEnableFOC(boolean newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.DifferentialPositionDutyCycle
withLimitForwardMotion(boolean newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API.DifferentialPositionDutyCycle
withLimitReverseMotion(boolean newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API.DifferentialPositionDutyCycle
withOverrideBrakeDurNeutral(boolean newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.DifferentialPositionDutyCycle
withTargetPosition(double newTargetPosition)
Modifies this Control Request's TargetPosition parameter and returns itself for method-chaining and easier to use request API.DifferentialPositionDutyCycle
withTargetSlot(int newTargetSlot)
Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easier to use request API.DifferentialPositionDutyCycle
withUpdateFreqHz(double newUpdateFreqHz)
Sets the period at which this control will update at.
-
Field Details
-
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. -
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
-
DifferentialPositionDutyCycle
public DifferentialPositionDutyCycle(double TargetPosition, double DifferentialPosition, boolean EnableFOC, int TargetSlot, int DifferentialSlot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion)Request PID to target position with a differential position setpoint.This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.
- 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.
-
DifferentialPositionDutyCycle
Request PID to target position with a differential position setpoint.This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.
- Parameters:
TargetPosition
- Average position to drive toward in rotations.DifferentialPosition
- Differential position to drive toward in rotations.
-
-
Method Details
-
toString
-
sendRequest
- Specified by:
sendRequest
in classControlRequest
-
getControlInfo
Gets information about this control request.- Specified by:
getControlInfo
in classControlRequest
- Returns:
- Map of control parameter names and corresponding applied values
-
withTargetPosition
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
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
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
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
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 DifferentialPositionDutyCycle 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
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
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
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
-