Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion profile. More...

#include <ctre/phoenix6/controls/DynamicMotionMagicTorqueCurrentFOC.hpp>

Inheritance diagram for ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC:

Public Member Functions
constexpr	DynamicMotionMagicTorqueCurrentFOC (units::angle::turn_t Position, units::angular_velocity::turns_per_second_t Velocity, units::angular_acceleration::turns_per_second_squared_t Acceleration)
	Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion profile.

constexpr	~DynamicMotionMagicTorqueCurrentFOC () override

constexpr std::string_view	GetName () const override
	Gets the name of this control request.

constexpr DynamicMotionMagicTorqueCurrentFOC &	WithPosition (units::angle::turn_t newPosition)
	Modifies this Control Request's Position parameter and returns itself for method-chaining and easier to use request API.

constexpr DynamicMotionMagicTorqueCurrentFOC &	WithVelocity (units::angular_velocity::turns_per_second_t newVelocity)
	Modifies this Control Request's Velocity parameter and returns itself for method-chaining and easier to use request API.

constexpr DynamicMotionMagicTorqueCurrentFOC &	WithAcceleration (units::angular_acceleration::turns_per_second_squared_t newAcceleration)
	Modifies this Control Request's Acceleration parameter and returns itself for method-chaining and easier to use request API.

constexpr DynamicMotionMagicTorqueCurrentFOC &	WithJerk (units::angular_jerk::turns_per_second_cubed_t newJerk)
	Modifies this Control Request's Jerk parameter and returns itself for method-chaining and easier to use request API.

constexpr DynamicMotionMagicTorqueCurrentFOC &	WithFeedForward (units::current::ampere_t newFeedForward)
	Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.

constexpr DynamicMotionMagicTorqueCurrentFOC &	WithSlot (int newSlot)
	Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API.

constexpr DynamicMotionMagicTorqueCurrentFOC &	WithOverrideCoastDurNeutral (bool newOverrideCoastDurNeutral)
	Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chaining and easier to use request API.

constexpr DynamicMotionMagicTorqueCurrentFOC &	WithLimitForwardMotion (bool newLimitForwardMotion)
	Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining and easier to use request API.

constexpr DynamicMotionMagicTorqueCurrentFOC &	WithLimitReverseMotion (bool newLimitReverseMotion)
	Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining and easier to use request API.

constexpr DynamicMotionMagicTorqueCurrentFOC &	WithIgnoreHardwareLimits (bool newIgnoreHardwareLimits)
	Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining and easier to use request API.

constexpr DynamicMotionMagicTorqueCurrentFOC &	WithIgnoreSoftwareLimits (bool newIgnoreSoftwareLimits)
	Modifies this Control Request's IgnoreSoftwareLimits parameter and returns itself for method-chaining and easier to use request API.

constexpr DynamicMotionMagicTorqueCurrentFOC &	WithUseTimesync (bool newUseTimesync)
	Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easier to use request API.

constexpr DynamicMotionMagicTorqueCurrentFOC &	WithUpdateFreqHz (units::frequency::hertz_t newUpdateFreqHz)
	Sets the frequency at which this control will update.

std::string	ToString () const override
	Returns a string representation of the object.

std::map< std::string, std::string >	GetControlInfo () const override
	Gets information about this control request.

Public Member Functions inherited from ctre::phoenix6::controls::ControlRequest
constexpr	ControlRequest ()=default
	Constructs a new Control Request.

virtual constexpr	~ControlRequest ()

Public Attributes
units::angle::turn_t	Position
	Position to drive toward in rotations.

units::angular_velocity::turns_per_second_t	Velocity
	Cruise velocity for profiling.

units::angular_acceleration::turns_per_second_squared_t	Acceleration
	Acceleration for profiling.

units::angular_jerk::turns_per_second_cubed_t	Jerk = 0.0_tr_per_s_cu
	Jerk for profiling.

units::current::ampere_t	FeedForward = 0.0_A
	Feedforward to apply in torque current in Amperes.

int	Slot = 0
	Select which gains are applied by selecting the slot.

bool	OverrideCoastDurNeutral = false
	Set to true to coast the rotor when output is zero (or within deadband).

bool	LimitForwardMotion = false
	Set to true to force forward limiting.

bool	LimitReverseMotion = false
	Set to true to force reverse limiting.

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

bool	IgnoreSoftwareLimits = false
	Set to true to ignore software limits, instead allowing motion.

bool	UseTimesync = false
	Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore).

units::frequency::hertz_t	UpdateFreqHz {100_Hz}
	The frequency at which this control will update.

Additional Inherited Members
Protected Member Functions inherited from ctre::phoenix6::controls::ControlRequest
constexpr	ControlRequest (ControlRequest const &)=default

constexpr	ControlRequest (ControlRequest &&)=default

constexpr ControlRequest &	operator= (ControlRequest const &)=default

constexpr ControlRequest &	operator= (ControlRequest &&)=default

Detailed Description

Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion profile.

This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and (optional) Jerk. Users can optionally provide a torque current feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and (optional) Jerk. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

Constructor & Destructor Documentation

◆ DynamicMotionMagicTorqueCurrentFOC()

ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::DynamicMotionMagicTorqueCurrentFOC	(	units::angle::turn_t	Position,
		units::angular_velocity::turns_per_second_t	Velocity,
		units::angular_acceleration::turns_per_second_squared_t	Acceleration )

inlineconstexpr

Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion profile.

This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and (optional) Jerk. Users can optionally provide a torque current feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and (optional) Jerk. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

Parameters

Position	Position to drive toward in rotations.
Velocity	Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
Acceleration	Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.

◆ ~DynamicMotionMagicTorqueCurrentFOC()

ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::~DynamicMotionMagicTorqueCurrentFOC ( )

inlineconstexproverride

Member Function Documentation

◆ GetControlInfo()

std::map< std::string, std::string > ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::GetControlInfo ( ) const

overridevirtual

Gets information about this control request.

Returns: Map of control parameter names and corresponding applied values

Implements ctre::phoenix6::controls::ControlRequest.

◆ GetName()

std::string_view ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::GetName ( ) const

inlineconstexproverridevirtual

Gets the name of this control request.

Returns: Name of the control request

Implements ctre::phoenix6::controls::ControlRequest.

◆ ToString()

std::string ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::ToString ( ) const

overridevirtual

Returns a string representation of the object.

Returns: a string representation of the object.

Implements ctre::phoenix6::controls::ControlRequest.

◆ WithAcceleration()

DynamicMotionMagicTorqueCurrentFOC & ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::WithAcceleration ( units::angular_acceleration::turns_per_second_squared_t newAcceleration )

inlineconstexpr

Modifies this Control Request's Acceleration parameter and returns itself for method-chaining and easier to use request API.

Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.

Units: rotations per second²

Parameters

newAcceleration Parameter to modify

Returns: Itself

◆ WithFeedForward()

DynamicMotionMagicTorqueCurrentFOC & ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::WithFeedForward ( units::current::ampere_t newFeedForward )

inlineconstexpr

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. This is added to the output of the onboard feedforward terms.

User can use motor's kT to scale Newton-meter to Amperes.

Units: A

Parameters

newFeedForward Parameter to modify

Returns: Itself

◆ WithIgnoreHardwareLimits()

DynamicMotionMagicTorqueCurrentFOC & ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::WithIgnoreHardwareLimits ( bool newIgnoreHardwareLimits )

inlineconstexpr

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

◆ WithIgnoreSoftwareLimits()

DynamicMotionMagicTorqueCurrentFOC & ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::WithIgnoreSoftwareLimits ( bool newIgnoreSoftwareLimits )

inlineconstexpr

Modifies this Control Request's IgnoreSoftwareLimits parameter and returns itself for method-chaining and easier to use request API.

Set to true to ignore software limits, instead allowing motion.

This can be useful when calibrating the zero point of a mechanism such as an elevator.

The software limit faults will still report the values of the software limits regardless of this parameter.

Parameters

newIgnoreSoftwareLimits Parameter to modify

Returns: Itself

◆ WithJerk()

DynamicMotionMagicTorqueCurrentFOC & ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::WithJerk ( units::angular_jerk::turns_per_second_cubed_t newJerk )

inlineconstexpr

Modifies this Control Request's Jerk parameter and returns itself for method-chaining and easier to use request API.

Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.

Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.

Units: rotations per second³

Parameters

newJerk Parameter to modify

Returns: Itself

◆ WithLimitForwardMotion()

DynamicMotionMagicTorqueCurrentFOC & ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::WithLimitForwardMotion ( bool newLimitForwardMotion )

inlineconstexpr

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()

DynamicMotionMagicTorqueCurrentFOC & ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::WithLimitReverseMotion ( bool newLimitReverseMotion )

inlineconstexpr

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

◆ WithOverrideCoastDurNeutral()

DynamicMotionMagicTorqueCurrentFOC & ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::WithOverrideCoastDurNeutral ( bool newOverrideCoastDurNeutral )

inlineconstexpr

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

◆ WithPosition()

DynamicMotionMagicTorqueCurrentFOC & ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::WithPosition ( units::angle::turn_t newPosition )

inlineconstexpr

Modifies this Control Request's Position parameter and returns itself for method-chaining and easier to use request API.

Position to drive toward in rotations.

Units: rotations

Parameters

newPosition Parameter to modify

Returns: Itself

◆ WithSlot()

DynamicMotionMagicTorqueCurrentFOC & ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::WithSlot ( int newSlot )

inlineconstexpr

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

◆ WithUpdateFreqHz()

DynamicMotionMagicTorqueCurrentFOC & ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::WithUpdateFreqHz ( units::frequency::hertz_t newUpdateFreqHz )

inlineconstexpr

Sets the frequency at which this control will update.

This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

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

◆ WithUseTimesync()

DynamicMotionMagicTorqueCurrentFOC & ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::WithUseTimesync ( bool newUseTimesync )

inlineconstexpr

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

◆ WithVelocity()

DynamicMotionMagicTorqueCurrentFOC & ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::WithVelocity ( units::angular_velocity::turns_per_second_t newVelocity )

inlineconstexpr

Modifies this Control Request's Velocity parameter and returns itself for method-chaining and easier to use request API.

Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.

Units: rotations per second

Parameters

newVelocity Parameter to modify

Returns: Itself

Member Data Documentation

◆ Acceleration

units::angular_acceleration::turns_per_second_squared_t ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::Acceleration

Acceleration for profiling.

The signage does not matter as the device will use the absolute value for profile generation.

Units: rotations per second²

◆ FeedForward

units::current::ampere_t ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::FeedForward = 0.0_A

Feedforward to apply in torque current in Amperes.

This is added to the output of the onboard feedforward terms.

User can use motor's kT to scale Newton-meter to Amperes.

Units: A

◆ IgnoreHardwareLimits

bool ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::IgnoreHardwareLimits = false

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.

◆ IgnoreSoftwareLimits

bool ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::IgnoreSoftwareLimits = false

Set to true to ignore software limits, instead allowing motion.

This can be useful when calibrating the zero point of a mechanism such as an elevator.

The software limit faults will still report the values of the software limits regardless of this parameter.

◆ Jerk

units::angular_jerk::turns_per_second_cubed_t ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::Jerk = 0.0_tr_per_s_cu

Jerk for profiling.

The signage does not matter as the device will use the absolute value for profile generation.

Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.

Units: rotations per second³

◆ LimitForwardMotion

bool ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::LimitForwardMotion = false

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

bool ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::LimitReverseMotion = false

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.

◆ OverrideCoastDurNeutral

bool ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::OverrideCoastDurNeutral = false

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).

◆ Position

units::angle::turn_t ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::Position

Position to drive toward in rotations.

Units: rotations

◆ Slot

int ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::Slot = 0

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].

◆ UpdateFreqHz

units::frequency::hertz_t ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::UpdateFreqHz {100_Hz}

The frequency at which this control will update.

This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

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.

◆ UseTimesync

bool ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::UseTimesync = false

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.

◆ Velocity

units::angular_velocity::turns_per_second_t ctre::phoenix6::controls::DynamicMotionMagicTorqueCurrentFOC::Velocity

Cruise velocity for profiling.

The signage does not matter as the device will use the absolute value for profile generation.

Units: rotations per second

The documentation for this class was generated from the following file:

ctre/phoenix6/controls/DynamicMotionMagicTorqueCurrentFOC.hpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DynamicMotionMagicTorqueCurrentFOC()

◆ ~DynamicMotionMagicTorqueCurrentFOC()

Member Function Documentation

◆ GetControlInfo()

◆ GetName()

◆ ToString()

◆ WithAcceleration()

◆ WithFeedForward()

◆ WithIgnoreHardwareLimits()

◆ WithIgnoreSoftwareLimits()

◆ WithJerk()

◆ WithLimitForwardMotion()

◆ WithLimitReverseMotion()

◆ WithOverrideCoastDurNeutral()

◆ WithPosition()

◆ WithSlot()

◆ WithUpdateFreqHz()

◆ WithUseTimesync()

◆ WithVelocity()

Member Data Documentation

◆ Acceleration

◆ FeedForward

◆ IgnoreHardwareLimits

◆ IgnoreSoftwareLimits

◆ Jerk

◆ LimitForwardMotion

◆ LimitReverseMotion

◆ OverrideCoastDurNeutral

◆ Position

◆ Slot

◆ UpdateFreqHz

◆ UseTimesync

◆ Velocity