Package com.ctre.phoenix6.controls

Class VelocityTorqueCurrentFOC

java.lang.Object
com.ctre.phoenix6.controls.ControlRequest
com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC
All Implemented Interfaces:
Cloneable
public class VelocityTorqueCurrentFOC extends ControlRequest implements Cloneable
Requires Phoenix Pro; Request PID to target velocity with torque current 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 torque current as an arbitrary feedforward value.

  • Field Details

    • Velocity

      public double Velocity
      Velocity to drive toward in rotations per second.
      • Units: 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.
      • Units: rotations per second²

    • FeedForward

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

    • 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.

    • IgnoreHardwareLimits

      public boolean IgnoreHardwareLimits
      Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

      This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

      The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

    • UseTimesync

      public boolean UseTimesync
      Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

      This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

    • 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

    • VelocityTorqueCurrentFOC

      public VelocityTorqueCurrentFOC(double Velocity)
      Requires Phoenix Pro; Request PID to target velocity with torque current 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 torque current as an arbitrary feedforward value.

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

    • VelocityTorqueCurrentFOC

      public VelocityTorqueCurrentFOC(AngularVelocity Velocity)
      Requires Phoenix Pro; Request PID to target velocity with torque current 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 torque current 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)
      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 VelocityTorqueCurrentFOC 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.

      • Units: rotations per second
      Parameters:
      newVelocity - Parameter to modify
      Returns:
      Itself

    • withVelocity

      public VelocityTorqueCurrentFOC withVelocity(AngularVelocity 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.

      • Units: rotations per second
      Parameters:
      newVelocity - Parameter to modify
      Returns:
      Itself

    • getVelocityMeasure

      public AngularVelocity getVelocityMeasure()
      Helper method to get this Control Request's Velocity parameter converted to a unit type. If not using the Java units library, Velocity can be accessed directly instead.

      Velocity to drive toward in rotations per second.

      • Units: rotations per second
      Returns:
      Velocity

    • withAcceleration

      public VelocityTorqueCurrentFOC 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.

      • Units: rotations per second²
      Parameters:
      newAcceleration - Parameter to modify
      Returns:
      Itself

    • withAcceleration

      public VelocityTorqueCurrentFOC withAcceleration(AngularAcceleration 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.

      • Units: rotations per second²
      Parameters:
      newAcceleration - Parameter to modify
      Returns:
      Itself

    • getAccelerationMeasure

      public AngularAcceleration getAccelerationMeasure()
      Helper method to get this Control Request's Acceleration parameter converted to a unit type. If not using the Java units library, Acceleration can be accessed directly instead.

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

      • Units: rotations per second²
      Returns:
      Acceleration

    • withFeedForward

      public VelocityTorqueCurrentFOC 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.

      • Units: A
      Parameters:
      newFeedForward - Parameter to modify
      Returns:
      Itself

    • withFeedForward

      public VelocityTorqueCurrentFOC withFeedForward(Current 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.

      • Units: A
      Parameters:
      newFeedForward - Parameter to modify
      Returns:
      Itself

    • getFeedForwardMeasure

      public Current getFeedForwardMeasure()
      Helper method to get this Control Request's FeedForward parameter converted to a unit type. If not using the Java units library, FeedForward can be accessed directly instead.

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

      • Units: A
      Returns:
      FeedForward

    • withSlot

      public VelocityTorqueCurrentFOC 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 VelocityTorqueCurrentFOC 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 VelocityTorqueCurrentFOC 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 VelocityTorqueCurrentFOC 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

    • withIgnoreHardwareLimits

      public VelocityTorqueCurrentFOC withIgnoreHardwareLimits(boolean newIgnoreHardwareLimits)
      Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining and easier to use request API.

      Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

      This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

      The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

      Parameters:
      newIgnoreHardwareLimits - Parameter to modify
      Returns:
      Itself

    • withUseTimesync

      public VelocityTorqueCurrentFOC withUseTimesync(boolean newUseTimesync)
      Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easier to use request API.

      Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

      This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

      Parameters:
      newUseTimesync - Parameter to modify
      Returns:
      Itself

    • withUpdateFreqHz

      public VelocityTorqueCurrentFOC 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.

      Specified by:
      withUpdateFreqHz in class ControlRequest
      Parameters:
      newUpdateFreqHz - Parameter to modify
      Returns:
      Itself

    • withUpdateFreqHz

      public VelocityTorqueCurrentFOC withUpdateFreqHz(Frequency 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.

      Specified by:
      withUpdateFreqHz in class ControlRequest
      Parameters:
      newUpdateFreqHz - Parameter to modify
      Returns:
      Itself

    • clone

      public VelocityTorqueCurrentFOC clone()
      Overrides:
      clone in class Object