Class DifferentialVelocityVoltage
- All Implemented Interfaces:
Cloneable
public class DifferentialVelocityVoltage extends ControlRequest implements Cloneable
This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.
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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).int
TargetSlot
Select which gains are applied to the primary controller by selecting the slot.double
TargetVelocity
Average velocity to drive toward in rotations per second.double
UpdateFreqHz
The period at which this control will update at. -
Constructor Summary
Constructors Constructor Description DifferentialVelocityVoltage(double TargetVelocity, double DifferentialPosition)
Request PID to target velocity with a differential position setpoint.DifferentialVelocityVoltage(double TargetVelocity, double DifferentialPosition, boolean EnableFOC, int TargetSlot, int DifferentialSlot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion)
Request PID to target velocity with a differential position setpoint. -
Method Summary
Modifier and Type Method Description DifferentialVelocityVoltage
clone()
Map<String,String>
getControlInfo()
Gets information about this control request.StatusCode
sendRequest(String network, int deviceHash, boolean cancelOtherRequests)
String
toString()
DifferentialVelocityVoltage
withDifferentialPosition(double newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining and easier to use request API.DifferentialVelocityVoltage
withDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and easier to use request API.DifferentialVelocityVoltage
withEnableFOC(boolean newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.DifferentialVelocityVoltage
withLimitForwardMotion(boolean newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API.DifferentialVelocityVoltage
withLimitReverseMotion(boolean newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API.DifferentialVelocityVoltage
withOverrideBrakeDurNeutral(boolean newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.DifferentialVelocityVoltage
withTargetSlot(int newTargetSlot)
Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easier to use request API.DifferentialVelocityVoltage
withTargetVelocity(double newTargetVelocity)
Modifies this Control Request's TargetVelocity parameter and returns itself for method-chaining and easier to use request API.DifferentialVelocityVoltage
withUpdateFreqHz(double newUpdateFreqHz)
Sets the period at which this control will update at.
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Field Details
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TargetVelocity
Average velocity to drive toward in rotations per second. -
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.
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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.
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Constructor Details
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DifferentialVelocityVoltage
public DifferentialVelocityVoltage(double TargetVelocity, double DifferentialPosition, boolean EnableFOC, int TargetSlot, int DifferentialSlot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion)Request PID to target velocity with a differential position setpoint.This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.
- Parameters:
TargetVelocity
- Average velocity to drive toward in rotations per second.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.
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DifferentialVelocityVoltage
Request PID to target velocity with a differential position setpoint.This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.
- Parameters:
TargetVelocity
- Average velocity to drive toward in rotations per second.DifferentialPosition
- Differential position to drive toward in rotations.
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Method Details
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toString
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sendRequest
- Specified by:
sendRequest
in classControlRequest
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getControlInfo
Gets information about this control request.- Specified by:
getControlInfo
in classControlRequest
- Returns:
- Map of control parameter names and corresponding applied values
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withTargetVelocity
Modifies this Control Request's TargetVelocity parameter and returns itself for method-chaining and easier to use request API.Average velocity to drive toward in rotations per second.
- Parameters:
newTargetVelocity
- Parameter to modify- Returns:
- Itself
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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
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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
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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
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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
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withOverrideBrakeDurNeutral
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
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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
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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
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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
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clone
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