Package com.ctre.phoenix6.controls

Class TorqueCurrentFOC

java.lang.Object
com.ctre.phoenix6.controls.ControlRequest
com.ctre.phoenix6.controls.TorqueCurrentFOC
All Implemented Interfaces:
Cloneable
public class TorqueCurrentFOC
extends ControlRequest
implements Cloneable
Requires Phoenix Pro; Request a specified motor current (field oriented control).

This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.

  • Field Summary

    Fields 
    Modifier and Type Field Description
    double Deadband
    Deadband in Amperes.
    boolean LimitForwardMotion
    Set to true to force forward limiting.
    boolean LimitReverseMotion
    Set to true to force reverse limiting.
    double MaxAbsDutyCycle
    The maximum absolute motor output that can be applied, which effectively limits the velocity.
    double Output
    Amount of motor current in Amperes
    boolean OverrideCoastDurNeutral
    Set to true to coast the rotor when output is zero (or within deadband).
    double UpdateFreqHz
    The period at which this control will update at.

    Fields inherited from class com.ctre.phoenix6.controls.ControlRequest

    name

  • Constructor Summary

    Constructors 
    Constructor Description
    TorqueCurrentFOC​(double Output)
    Requires Phoenix Pro; Request a specified motor current (field oriented control).
    TorqueCurrentFOC​(double Output, double MaxAbsDutyCycle, double Deadband, boolean OverrideCoastDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion)
    Requires Phoenix Pro; Request a specified motor current (field oriented control).

  • Method Summary

    Modifier and Type Method Description
    TorqueCurrentFOC clone()  
    Map<String,​String> getControlInfo()
    Gets information about this control request.
    StatusCode sendRequest​(String network, int deviceHash, boolean cancelOtherRequests)  
    String toString()  
    TorqueCurrentFOC withDeadband​(double newDeadband)
    Modifies this Control Request's Deadband parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC withLimitForwardMotion​(boolean newLimitForwardMotion)
    Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC withLimitReverseMotion​(boolean newLimitReverseMotion)
    Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC withMaxAbsDutyCycle​(double newMaxAbsDutyCycle)
    Modifies this Control Request's MaxAbsDutyCycle parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC withOutput​(double newOutput)
    Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC withOverrideCoastDurNeutral​(boolean newOverrideCoastDurNeutral)
    Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC withUpdateFreqHz​(double newUpdateFreqHz)
    Sets the period at which this control will update at.

    Methods inherited from class com.ctre.phoenix6.controls.ControlRequest

    getName

    Methods inherited from class java.lang.Object

    equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

  • Field Details

    • Output

      public double Output
      Amount of motor current in Amperes

    • MaxAbsDutyCycle

      public double MaxAbsDutyCycle
      The maximum absolute motor output that can be applied, which effectively limits the velocity. For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one.

    • Deadband

      public double Deadband
      Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.

    • 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

    • TorqueCurrentFOC

      public TorqueCurrentFOC​(double Output, double MaxAbsDutyCycle, double Deadband, boolean OverrideCoastDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion)
      Requires Phoenix Pro; Request a specified motor current (field oriented control).

      This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.

      Parameters:
      Output - Amount of motor current in Amperes
      MaxAbsDutyCycle - The maximum absolute motor output that can be applied, which effectively limits the velocity. For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one.
      Deadband - Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.
      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.

    • TorqueCurrentFOC

      public TorqueCurrentFOC​(double Output)
      Requires Phoenix Pro; Request a specified motor current (field oriented control).

      This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.

      Parameters:
      Output - Amount of motor current in Amperes

  • 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

    • withOutput

      public TorqueCurrentFOC withOutput​(double newOutput)
      Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.

      Amount of motor current in Amperes

      Parameters:
      newOutput - Parameter to modify
      Returns:
      Itself

    • withMaxAbsDutyCycle

      public TorqueCurrentFOC withMaxAbsDutyCycle​(double newMaxAbsDutyCycle)
      Modifies this Control Request's MaxAbsDutyCycle parameter and returns itself for method-chaining and easier to use request API.

      The maximum absolute motor output that can be applied, which effectively limits the velocity. For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one.

      Parameters:
      newMaxAbsDutyCycle - Parameter to modify
      Returns:
      Itself

    • withDeadband

      public TorqueCurrentFOC withDeadband​(double newDeadband)
      Modifies this Control Request's Deadband parameter and returns itself for method-chaining and easier to use request API.

      Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.

      Parameters:
      newDeadband - Parameter to modify
      Returns:
      Itself

    • withOverrideCoastDurNeutral

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