Package com.ctre.phoenix6.controls

Class VoltageOut

java.lang.Object
com.ctre.phoenix6.controls.ControlRequest
com.ctre.phoenix6.controls.VoltageOut
All Implemented Interfaces:
Cloneable
public class VoltageOut
extends ControlRequest
implements Cloneable
Request a specified voltage.

This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage.

  • 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%.
    boolean LimitForwardMotion
    Set to true to force forward limiting.
    boolean LimitReverseMotion
    Set to true to force reverse limiting.
    double Output
    Voltage to attempt to drive at
    boolean OverrideBrakeDurNeutral
    Set to true to static-brake 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
    VoltageOut​(double Output)
    Request a specified voltage.
    VoltageOut​(double Output, boolean EnableFOC, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion)
    Request a specified voltage.

  • Method Summary

    Modifier and Type Method Description
    VoltageOut clone()  
    Map<String,​String> getControlInfo()
    Gets information about this control request.
    StatusCode sendRequest​(String network, int deviceHash, boolean cancelOtherRequests)  
    String toString()  
    VoltageOut withEnableFOC​(boolean newEnableFOC)
    Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.
    VoltageOut withLimitForwardMotion​(boolean newLimitForwardMotion)
    Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API.
    VoltageOut withLimitReverseMotion​(boolean newLimitReverseMotion)
    Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API.
    VoltageOut withOutput​(double newOutput)
    Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.
    VoltageOut withOverrideBrakeDurNeutral​(boolean newOverrideBrakeDurNeutral)
    Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.
    VoltageOut 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
      Voltage to attempt to drive at

    • 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.

    • 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

    • VoltageOut

      public VoltageOut​(double Output, boolean EnableFOC, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion)
      Request a specified voltage.

      This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage.

      Parameters:
      Output - Voltage to attempt to drive at
      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.

      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.

    • VoltageOut

      public VoltageOut​(double Output)
      Request a specified voltage.

      This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage.

      Parameters:
      Output - Voltage to attempt to drive at

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

      Voltage to attempt to drive at

      Parameters:
      newOutput - Parameter to modify
      Returns:
      Itself

    • withEnableFOC

      public VoltageOut 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

    • withOverrideBrakeDurNeutral

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