Class MotionMagicVelocityVoltage
- All Implemented Interfaces:
Cloneable
public class MotionMagicVelocityVoltage extends ControlRequest implements Cloneable
Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and Jerk value. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile. Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.
-
Field Summary
Fields Modifier and Type Field Description double
Acceleration
This is the absolute Acceleration to use generating the profile.boolean
EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.double
FeedForward
Feedforward to apply in voltsboolean
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
Slot
Select which gains are applied by selecting the slot.double
UpdateFreqHz
The period at which this control will update at.double
Velocity
Target velocity to drive toward in rotations per second. -
Constructor Summary
Constructors Constructor Description MotionMagicVelocityVoltage(double Velocity)
Requests Motion Magic® to target a final velocity using a motion profile.MotionMagicVelocityVoltage(double Velocity, double Acceleration, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion)
Requests Motion Magic® to target a final velocity using a motion profile. -
Method Summary
Modifier and Type Method Description MotionMagicVelocityVoltage
clone()
Map<String,String>
getControlInfo()
Gets information about this control request.StatusCode
sendRequest(String network, int deviceHash, boolean cancelOtherRequests)
String
toString()
MotionMagicVelocityVoltage
withAcceleration(double newAcceleration)
Modifies this Control Request's Acceleration parameter and returns itself for method-chaining and easier to use request API.MotionMagicVelocityVoltage
withEnableFOC(boolean newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.MotionMagicVelocityVoltage
withFeedForward(double newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.MotionMagicVelocityVoltage
withLimitForwardMotion(boolean newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API.MotionMagicVelocityVoltage
withLimitReverseMotion(boolean newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API.MotionMagicVelocityVoltage
withOverrideBrakeDurNeutral(boolean newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.MotionMagicVelocityVoltage
withSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API.MotionMagicVelocityVoltage
withUpdateFreqHz(double newUpdateFreqHz)
Sets the period at which this control will update at.MotionMagicVelocityVoltage
withVelocity(double newVelocity)
Modifies this Control Request's Velocity parameter and returns itself for method-chaining and easier to use request API.
-
Field Details
-
Velocity
Target velocity to drive toward in rotations per second. This can be changed on-the fly. -
Acceleration
This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used. -
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.
-
FeedForward
Feedforward to apply in volts -
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]. -
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
-
MotionMagicVelocityVoltage
public MotionMagicVelocityVoltage(double Velocity, double Acceleration, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion)Requests Motion Magic® to target a final velocity using a motion profile. This allows smooth transitions between velocity set points. Users can optionally provide a voltage feedforward.Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and Jerk value. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile. Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.
- Parameters:
Velocity
- Target velocity to drive toward in rotations per second. This can be changed on-the fly.Acceleration
- This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.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.
FeedForward
- Feedforward to apply in voltsSlot
- 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].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.
-
MotionMagicVelocityVoltage
Requests Motion Magic® to target a final velocity using a motion profile. This allows smooth transitions between velocity set points. Users can optionally provide a voltage feedforward.Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and Jerk value. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile. Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.
- Parameters:
Velocity
- Target velocity to drive toward in rotations per second. This can be changed on-the fly.
-
-
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
-
withVelocity
Modifies this Control Request's Velocity parameter and returns itself for method-chaining and easier to use request API.Target velocity to drive toward in rotations per second. This can be changed on-the fly.
- Parameters:
newVelocity
- Parameter to modify- Returns:
- Itself
-
withAcceleration
Modifies this Control Request's Acceleration parameter and returns itself for method-chaining and easier to use request API.This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.
- Parameters:
newAcceleration
- 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
-
withFeedForward
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.Feedforward to apply in volts
- Parameters:
newFeedForward
- Parameter to modify- Returns:
- Itself
-
withSlot
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
-
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
-
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
-