Package com.ctre.phoenix6.controls

Class VelocityDutyCycle

java.lang.Object
com.ctre.phoenix6.controls.ControlRequest
com.ctre.phoenix6.controls.VelocityDutyCycle
All Implemented Interfaces:
Cloneable
public class VelocityDutyCycle
extends ControlRequest
implements Cloneable
Request PID to target velocity with duty cycle feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

  • Field Summary

    Fields 
    Modifier and Type Field Description
    double Acceleration
    Acceleration to drive toward in rotations per second squared.
    boolean EnableFOC
    Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
    double FeedForward
    Feedforward to apply in fractional units between -1 and +1.
    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 Slot
    Select which gains are applied by selecting the slot.
    double UpdateFreqHz
    The period at which this control will update at.
    double Velocity
    Velocity to drive toward in rotations per second.

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

    name

  • Constructor Summary

    Constructors 
    Constructor Description
    VelocityDutyCycle​(double Velocity)
    Request PID to target velocity with duty cycle feedforward.
    VelocityDutyCycle​(double Velocity, double Acceleration, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion)
    Request PID to target velocity with duty cycle feedforward.

  • Method Summary

    Modifier and Type Method Description
    VelocityDutyCycle clone()  
    Map<String,​String> getControlInfo()
    Gets information about this control request.
    StatusCode sendRequest​(String network, int deviceHash, boolean cancelOtherRequests)  
    String toString()  
    VelocityDutyCycle withAcceleration​(double newAcceleration)
    Modifies this Control Request's Acceleration parameter and returns itself for method-chaining and easier to use request API.
    VelocityDutyCycle withEnableFOC​(boolean newEnableFOC)
    Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.
    VelocityDutyCycle withFeedForward​(double newFeedForward)
    Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.
    VelocityDutyCycle withLimitForwardMotion​(boolean newLimitForwardMotion)
    Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API.
    VelocityDutyCycle withLimitReverseMotion​(boolean newLimitReverseMotion)
    Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API.
    VelocityDutyCycle withOverrideBrakeDurNeutral​(boolean newOverrideBrakeDurNeutral)
    Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.
    VelocityDutyCycle withSlot​(int newSlot)
    Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API.
    VelocityDutyCycle withUpdateFreqHz​(double newUpdateFreqHz)
    Sets the period at which this control will update at.
    VelocityDutyCycle withVelocity​(double newVelocity)
    Modifies this Control Request's Velocity parameter and returns itself for method-chaining and easier to use request API.

    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

    • Velocity

      public double Velocity
      Velocity to drive toward in rotations per second.

    • Acceleration

      public double Acceleration
      Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.

    • EnableFOC

      public boolean 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

      public double FeedForward
      Feedforward to apply in fractional units between -1 and +1.

    • 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].

    • OverrideBrakeDurNeutral

      public boolean 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

      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

    • VelocityDutyCycle

      public VelocityDutyCycle​(double Velocity, double Acceleration, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion)
      Request PID to target velocity with duty cycle feedforward.

      This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

      Parameters:
      Velocity - Velocity to drive toward in rotations per second.
      Acceleration - Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.
      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 fractional units between -1 and +1.
      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.

    • VelocityDutyCycle

      public VelocityDutyCycle​(double Velocity)
      Request PID to target velocity with duty cycle feedforward.

      This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

      Parameters:
      Velocity - Velocity to drive toward in rotations per second.

  • 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

    • withVelocity

      public VelocityDutyCycle withVelocity​(double newVelocity)
      Modifies this Control Request's Velocity parameter and returns itself for method-chaining and easier to use request API.

      Velocity to drive toward in rotations per second.

      Parameters:
      newVelocity - Parameter to modify
      Returns:
      Itself

    • withAcceleration

      public VelocityDutyCycle withAcceleration​(double newAcceleration)
      Modifies this Control Request's Acceleration parameter and returns itself for method-chaining and easier to use request API.

      Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.

      Parameters:
      newAcceleration - Parameter to modify
      Returns:
      Itself

    • withEnableFOC

      public VelocityDutyCycle withEnableFOC​(boolean newEnableFOC)
      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

      public VelocityDutyCycle 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 fractional units between -1 and +1.

      Parameters:
      newFeedForward - Parameter to modify
      Returns:
      Itself

    • withSlot

      public VelocityDutyCycle 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

    • withOverrideBrakeDurNeutral

      public VelocityDutyCycle withOverrideBrakeDurNeutral​(boolean newOverrideBrakeDurNeutral)
      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

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