Package com.ctre.phoenix6.controls

Class DynamicMotionMagicExpoVoltage

java.lang.Object
com.ctre.phoenix6.controls.DynamicMotionMagicExpoVoltage
All Implemented Interfaces:
ControlRequest, Cloneable
public final class DynamicMotionMagicExpoVoltage extends Object implements ControlRequest, Cloneable
Requires Phoenix Pro and CANivore; Requests Motion Magic® Expo to target a final position using an exponential motion profile. This dynamic request allows runtime changes to the profile kV, kA, and (optional) Cruise Velocity. Users can optionally provide a voltage feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the specified Cruise Velocity (optional) and the mechanism kV and kA. Note that unlike the slot gains, the Expo_kV and Expo_kA parameters are always in output units of Volts.

Setting the Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

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

  • Field Details

    • Position

      public double Position
      Position to drive toward in rotations.
      • Units: rotations

    • kV

      public double kV
      Mechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.

      This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.

      • Units: V/rps

    • kA

      public double kA
      Mechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².

      This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.

      • Units: V/rps²

    • Velocity

      public double Velocity
      Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Setting this to 0 will allow the profile to run to the max possible velocity based on Expo_kV.
      • Units: rotations per second

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

    • IgnoreSoftwareLimits

      public boolean IgnoreSoftwareLimits
      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.

    • 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 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.

  • Constructor Details

    • DynamicMotionMagicExpoVoltage

      public DynamicMotionMagicExpoVoltage(double Position, double kV, double kA)
      Requires Phoenix Pro and CANivore; Requests Motion Magic® Expo to target a final position using an exponential motion profile. This dynamic request allows runtime changes to the profile kV, kA, and (optional) Cruise Velocity. Users can optionally provide a voltage feedforward.

      Motion Magic® Expo produces a motion profile in real-time while attempting to honor the specified Cruise Velocity (optional) and the mechanism kV and kA. Note that unlike the slot gains, the Expo_kV and Expo_kA parameters are always in output units of Volts.

      Setting the Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

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

      Parameters:
      Position - Position to drive toward in rotations.
      kV - Mechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.

      This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.

      kA - Mechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².

      This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.

    • DynamicMotionMagicExpoVoltage

      public DynamicMotionMagicExpoVoltage(Angle Position, Per<VoltageUnit,AngularVelocityUnit> kV, Per<VoltageUnit,AngularAccelerationUnit> kA)
      Requires Phoenix Pro and CANivore; Requests Motion Magic® Expo to target a final position using an exponential motion profile. This dynamic request allows runtime changes to the profile kV, kA, and (optional) Cruise Velocity. Users can optionally provide a voltage feedforward.

      Motion Magic® Expo produces a motion profile in real-time while attempting to honor the specified Cruise Velocity (optional) and the mechanism kV and kA. Note that unlike the slot gains, the Expo_kV and Expo_kA parameters are always in output units of Volts.

      Setting the Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

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

      Parameters:
      Position - Position to drive toward in rotations.
      kV - Mechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.

      This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.

      kA - Mechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².

      This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.

  • Method Details

    • getName

      public String getName()
      Description copied from interface: ControlRequest
      Gets the name of this control request.
      Specified by:
      getName in interface ControlRequest
      Returns:
      Name of the control request

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • sendRequest

      public StatusCode sendRequest(CANBus network, int deviceHash)
      Specified by:
      sendRequest in interface ControlRequest

    • getControlInfo

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

    • withPosition

      public DynamicMotionMagicExpoVoltage withPosition(double newPosition)
      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

    • withPosition

      public DynamicMotionMagicExpoVoltage withPosition(Angle newPosition)
      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

    • getPositionMeasure

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

      Position to drive toward in rotations.

      • Units: rotations
      Returns:
      Position

    • withKV

      public DynamicMotionMagicExpoVoltage withKV(double newKV)
      Modifies this Control Request's kV parameter and returns itself for method-chaining and easier to use request API.

      Mechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.

      This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.

      • Units: V/rps
      Parameters:
      newKV - Parameter to modify
      Returns:
      Itself

    • withKV

      public DynamicMotionMagicExpoVoltage withKV(Per<VoltageUnit,AngularVelocityUnit> newKV)
      Modifies this Control Request's kV parameter and returns itself for method-chaining and easier to use request API.

      Mechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.

      This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.

      • Units: V/rps
      Parameters:
      newKV - Parameter to modify
      Returns:
      Itself

    • getKVMeasure

      public Per<VoltageUnit,AngularVelocityUnit> getKVMeasure()
      Helper method to get this Control Request's kV parameter converted to a unit type. If not using the Java units library, kV can be accessed directly instead.

      Mechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.

      This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.

      • Units: V/rps
      Returns:
      kV

    • withKA

      public DynamicMotionMagicExpoVoltage withKA(double newKA)
      Modifies this Control Request's kA parameter and returns itself for method-chaining and easier to use request API.

      Mechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².

      This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.

      • Units: V/rps²
      Parameters:
      newKA - Parameter to modify
      Returns:
      Itself

    • withKA

      public DynamicMotionMagicExpoVoltage withKA(Per<VoltageUnit,AngularAccelerationUnit> newKA)
      Modifies this Control Request's kA parameter and returns itself for method-chaining and easier to use request API.

      Mechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².

      This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.

      • Units: V/rps²
      Parameters:
      newKA - Parameter to modify
      Returns:
      Itself

    • getKAMeasure

      public Per<VoltageUnit,AngularAccelerationUnit> getKAMeasure()
      Helper method to get this Control Request's kA parameter converted to a unit type. If not using the Java units library, kA can be accessed directly instead.

      Mechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².

      This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.

      • Units: V/rps²
      Returns:
      kA

    • withVelocity

      public DynamicMotionMagicExpoVoltage withVelocity(double newVelocity)
      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. Setting this to 0 will allow the profile to run to the max possible velocity based on Expo_kV.

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

    • withVelocity

      public DynamicMotionMagicExpoVoltage withVelocity(AngularVelocity newVelocity)
      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. Setting this to 0 will allow the profile to run to the max possible velocity based on Expo_kV.

      • 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.

      Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Setting this to 0 will allow the profile to run to the max possible velocity based on Expo_kV.

      • Units: rotations per second
      Returns:
      Velocity

    • withEnableFOC

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

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

    • withFeedForward

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

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

      • Units: Volts
      Returns:
      FeedForward

    • withSlot

      public DynamicMotionMagicExpoVoltage 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 DynamicMotionMagicExpoVoltage 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 DynamicMotionMagicExpoVoltage 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 DynamicMotionMagicExpoVoltage 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 DynamicMotionMagicExpoVoltage 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

    • withIgnoreSoftwareLimits

      public DynamicMotionMagicExpoVoltage withIgnoreSoftwareLimits(boolean newIgnoreSoftwareLimits)
      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

    • withUseTimesync

      public DynamicMotionMagicExpoVoltage 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 DynamicMotionMagicExpoVoltage 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.

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

    • withUpdateFreqHz

      public DynamicMotionMagicExpoVoltage 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.

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

    • clone

      public DynamicMotionMagicExpoVoltage clone()
      Overrides:
      clone in class Object