Class MotionMagicVoltage
- All Implemented Interfaces:
Cloneable
public class MotionMagicVoltage extends ControlRequest implements Cloneable
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 voltage-based, so relevant closed-loop gains will use Volts for the numerator.
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Field Summary
Fields Modifier and Type Field Description 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).double
Position
Position to drive toward in rotations.int
Slot
Select which gains are applied by selecting the slot.double
UpdateFreqHz
The period at which this control will update at. -
Constructor Summary
Constructors Constructor Description MotionMagicVoltage(double Position)
Requests Motion Magic® to target a final position using a motion profile.MotionMagicVoltage(double Position, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion)
Requests Motion Magic® to target a final position using a motion profile. -
Method Summary
Modifier and Type Method Description MotionMagicVoltage
clone()
Map<String,String>
getControlInfo()
Gets information about this control request.StatusCode
sendRequest(String network, int deviceHash, boolean cancelOtherRequests)
String
toString()
MotionMagicVoltage
withEnableFOC(boolean newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.MotionMagicVoltage
withFeedForward(double newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.MotionMagicVoltage
withLimitForwardMotion(boolean newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API.MotionMagicVoltage
withLimitReverseMotion(boolean newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API.MotionMagicVoltage
withOverrideBrakeDurNeutral(boolean newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.MotionMagicVoltage
withPosition(double newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier to use request API.MotionMagicVoltage
withSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API.MotionMagicVoltage
withUpdateFreqHz(double newUpdateFreqHz)
Sets the period at which this control will update at.
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Field Details
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Position
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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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.
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Constructor Details
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MotionMagicVoltage
public MotionMagicVoltage(double Position, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion)Requests Motion Magic® to target a final position using a motion profile. Users can optionally provide a voltage 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 voltage-based, so relevant closed-loop gains will use Volts for the numerator.
- Parameters:
Position
- 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.
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.
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MotionMagicVoltage
Requests Motion Magic® to target a final position using a motion profile. Users can optionally provide a voltage 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 voltage-based, so relevant closed-loop gains will use Volts for the numerator.
- Parameters:
Position
- 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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withPosition
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
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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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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
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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
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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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