Package com.ctre.phoenix6.controls

Interface ControlRequest

All Known Implementing Classes:
CoastOut, ColorFlowAnimation, DifferentialDutyCycle, DifferentialFollower, DifferentialMotionMagicDutyCycle, DifferentialMotionMagicExpoDutyCycle, DifferentialMotionMagicExpoVoltage, DifferentialMotionMagicVelocityDutyCycle, DifferentialMotionMagicVelocityVoltage, DifferentialMotionMagicVoltage, DifferentialPositionDutyCycle, DifferentialPositionVoltage, DifferentialStrictFollower, DifferentialVelocityDutyCycle, DifferentialVelocityVoltage, DifferentialVoltage, DutyCycleOut, DynamicMotionMagicDutyCycle, DynamicMotionMagicExpoDutyCycle, DynamicMotionMagicExpoTorqueCurrentFOC, DynamicMotionMagicExpoVoltage, DynamicMotionMagicTorqueCurrentFOC, DynamicMotionMagicVoltage, EmptyAnimation, EmptyControl, FireAnimation, Follower, LarsonAnimation, ModulateVBatOut, MotionMagicDutyCycle, MotionMagicExpoDutyCycle, MotionMagicExpoTorqueCurrentFOC, MotionMagicExpoVoltage, MotionMagicTorqueCurrentFOC, MotionMagicVelocityDutyCycle, MotionMagicVelocityTorqueCurrentFOC, MotionMagicVelocityVoltage, MotionMagicVoltage, MusicTone, NeutralOut, PositionDutyCycle, PositionTorqueCurrentFOC, PositionVoltage, RainbowAnimation, RgbFadeAnimation, SingleFadeAnimation, SolidColor, StaticBrake, StrictFollower, StrobeAnimation, TorqueCurrentFOC, TwinkleAnimation, TwinkleOffAnimation, VelocityDutyCycle, VelocityTorqueCurrentFOC, VelocityVoltage, VoltageOut
public interface ControlRequest
Common interface implemented by all control requests.

  • Method Details

    • sendRequest

      StatusCode sendRequest(CANBus network, int deviceHash)

    • withUpdateFreqHz

      ControlRequest withUpdateFreqHz(double newUpdateFreqHz)
      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

    • withUpdateFreqHz

      ControlRequest withUpdateFreqHz(Frequency newUpdateFreqHz)
      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

    • getName

      String getName()
      Gets the name of this control request.
      Returns:
      Name of the control request

    • getControlInfo

      Map<String,String> getControlInfo()
      Gets information about this control request.
      Returns:
      Map of control parameter names and corresponding applied values