Package com.ctre.phoenix6.controls

Class MotionMagicTorqueCurrentFOC

java.lang.Object
com.ctre.phoenix6.controls.ControlRequest
com.ctre.phoenix6.controls.MotionMagicTorqueCurrentFOC
All Implemented Interfaces:
Cloneable
public class MotionMagicTorqueCurrentFOC
extends ControlRequest
implements Cloneable
Requires Phoenix Pro; Requests Motion Magic® to target a final position using a motion profile. Users can optionally provide a torque current feedforward.

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 based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

  • Field Details

    • Position

      public double Position
      Position to drive toward in rotations.

    • FeedForward

      public double FeedForward
      Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.

    • Slot

      public int 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

      public boolean 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).

    • 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

    • MotionMagicTorqueCurrentFOC

      public MotionMagicTorqueCurrentFOC​(double Position, double FeedForward, int Slot, boolean OverrideCoastDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion)
      Requires Phoenix Pro; Requests Motion Magic® to target a final position using a motion profile. Users can optionally provide a torque current feedforward.

      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 based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

      Parameters:
      Position - Position to drive toward in rotations.
      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).
      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.

    • MotionMagicTorqueCurrentFOC

      public MotionMagicTorqueCurrentFOC​(double Position)
      Requires Phoenix Pro; Requests Motion Magic® to target a final position using a motion profile. Users can optionally provide a torque current feedforward.

      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 based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

      Parameters:
      Position - 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

    • withPosition

      public MotionMagicTorqueCurrentFOC withPosition​(double newPosition)
      Modifies this Control Request's Position parameter and returns itself for method-chaining and easier to use request API.

      Position to drive toward in rotations.

      Parameters:
      newPosition - Parameter to modify
      Returns:
      Itself

    • withFeedForward

      public MotionMagicTorqueCurrentFOC withFeedForward​(double newFeedForward)
      Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.

      Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.

      Parameters:
      newFeedForward - Parameter to modify
      Returns:
      Itself

    • withSlot

      public MotionMagicTorqueCurrentFOC withSlot​(int newSlot)
      Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API.

      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].

      Parameters:
      newSlot - Parameter to modify
      Returns:
      Itself

    • withOverrideCoastDurNeutral

      public MotionMagicTorqueCurrentFOC withOverrideCoastDurNeutral​(boolean newOverrideCoastDurNeutral)
      Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chaining and easier to use request API.

      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).

      Parameters:
      newOverrideCoastDurNeutral - Parameter to modify
      Returns:
      Itself

    • withLimitForwardMotion

      public MotionMagicTorqueCurrentFOC 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 MotionMagicTorqueCurrentFOC 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 MotionMagicTorqueCurrentFOC 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 MotionMagicTorqueCurrentFOC clone()
      Overrides:
      clone in class Object