Package com.ctre.phoenix6.controls

Class VelocityVoltage

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

    • EnableFOC

      public boolean EnableFOC
      Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). 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 volts
      • Units: Volts

    • 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.

    • 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

    • VelocityVoltage

      public VelocityVoltage(double Velocity)
      Request PID to target velocity with voltage 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.

    • VelocityVoltage

      public VelocityVoltage(AngularVelocity Velocity)
      Request PID to target velocity with voltage 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)
      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 VelocityVoltage 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 VelocityVoltage 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 VelocityVoltage 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 VelocityVoltage 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

    • withEnableFOC

      public VelocityVoltage 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% on supported devices (see SupportsFOC). 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 VelocityVoltage 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 volts

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

    • withFeedForward

      public VelocityVoltage withFeedForward(Voltage newFeedForward)
      Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.

      Feedforward to apply in volts

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

    • getFeedForwardMeasure

      public Voltage 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 volts

      • Units: Volts
      Returns:
      FeedForward

    • withSlot

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