Requests Motion Magic® to target a final position using a motion profile. More...

#include <ctre/phoenixpro/controls/MotionMagicTorqueCurrentFOC.hpp>

Inheritance diagram for ctre::phoenixpro::controls::MotionMagicTorqueCurrentFOC:

Public Member Functions
	MotionMagicTorqueCurrentFOC (units::angle::turn_t Position, units::dimensionless::scalar_t FeedForward, int Slot, bool OverrideCoastDurNeutral)
	Requests Motion Magic® to target a final position using a motion profile. More...

	MotionMagicTorqueCurrentFOC (units::angle::turn_t Position)
	Requests Motion Magic® to target a final position using a motion profile. More...

MotionMagicTorqueCurrentFOC &	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. More...

MotionMagicTorqueCurrentFOC &	WithFeedForward (units::dimensionless::scalar_t newFeedForward)
	Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API. More...

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

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

MotionMagicTorqueCurrentFOC &	WithUpdateFreqHz (units::frequency::hertz_t newUpdateFreqHz)
	Sets the period at which this control will update at. More...

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

void	ForceApplyConfigs ()
	Forces configs to be applied the next time this is used in a setControl. More...

Public Member Functions inherited from ctre::phoenixpro::controls::ControlRequest
	ControlRequest (std::string name)
	Constructs a new Control Request with the given name. More...

ControlInfo &	GetControlInfo ()
	Gets information about this control request. More...

const ControlInfo &	GetControlInfo () const
	Gets information about this control request. More...

virtual	~ControlRequest ()=default

virtual std::string	ToString () const =0

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

units::dimensionless::scalar_t	FeedForward
	Feedforward to apply in torque current in Amperes. More...

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

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

units::time::second_t	ConfigTimeout {0.1_s}
	The timeout when sending configs associated with this control. More...

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

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

	ControlRequest (ControlRequest &&)=default

ControlRequest &	operator= (ControlRequest const &)=default

ControlRequest &	operator= (ControlRequest &&)=default

Protected Attributes inherited from ctre::phoenixpro::controls::ControlRequest
ControlInfo	requestReference

Detailed Description

Requests Motion Magic® to target a final position using a motion profile.

Users can optionally provide a torque current feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. 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

◆ MotionMagicTorqueCurrentFOC() [1/2]

ctre::phoenixpro::controls::MotionMagicTorqueCurrentFOC::MotionMagicTorqueCurrentFOC	(	units::angle::turn_t	Position,
		units::dimensionless::scalar_t	FeedForward,
		int	Slot,
		bool	OverrideCoastDurNeutral
	)

inline

Requests Motion Magic® to target a final position using a motion profile.

Users can optionally provide a torque current feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. 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.
FeedForward	Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
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].
OverrideCoastDurNeutral	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).

◆ MotionMagicTorqueCurrentFOC() [2/2]

ctre::phoenixpro::controls::MotionMagicTorqueCurrentFOC::MotionMagicTorqueCurrentFOC ( units::angle::turn_t Position )

inline

Requests Motion Magic® to target a final position using a motion profile.

Users can optionally provide a torque current feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. 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.

Member Function Documentation

◆ ForceApplyConfigs()

void ctre::phoenixpro::controls::MotionMagicTorqueCurrentFOC::ForceApplyConfigs ( )

inline

Forces configs to be applied the next time this is used in a setControl.

This is not necessary in the majority of cases, because Phoenix will make sure configs are properly set when they are not already set

◆ ToString()

std::string ctre::phoenixpro::controls::MotionMagicTorqueCurrentFOC::ToString ( ) const

inlinevirtual

Returns a string representation of the object.

Returns: a string representation of the object.

Implements ctre::phoenixpro::controls::ControlRequest.

◆ WithFeedForward()

MotionMagicTorqueCurrentFOC & ctre::phoenixpro::controls::MotionMagicTorqueCurrentFOC::WithFeedForward ( units::dimensionless::scalar_t newFeedForward )

inline

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

Parameters

newFeedForward Parameter to modify

Returns: Itself

◆ WithOverrideCoastDurNeutral()

MotionMagicTorqueCurrentFOC & ctre::phoenixpro::controls::MotionMagicTorqueCurrentFOC::WithOverrideCoastDurNeutral ( bool newOverrideCoastDurNeutral )

inline

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

Parameters

newOverrideCoastDurNeutral Parameter to modify

Returns: Itself

◆ WithPosition()

MotionMagicTorqueCurrentFOC & ctre::phoenixpro::controls::MotionMagicTorqueCurrentFOC::WithPosition ( units::angle::turn_t newPosition )

inline

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

Parameters

newPosition Parameter to modify

Returns: Itself

◆ WithSlot()

MotionMagicTorqueCurrentFOC & ctre::phoenixpro::controls::MotionMagicTorqueCurrentFOC::WithSlot ( int newSlot )

inline

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

Parameters

newSlot Parameter to modify

Returns: Itself

◆ WithUpdateFreqHz()

MotionMagicTorqueCurrentFOC & ctre::phoenixpro::controls::MotionMagicTorqueCurrentFOC::WithUpdateFreqHz ( units::frequency::hertz_t newUpdateFreqHz )

inline

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

Member Data Documentation

◆ ConfigTimeout

units::time::second_t ctre::phoenixpro::controls::MotionMagicTorqueCurrentFOC::ConfigTimeout {0.1_s}

The timeout when sending configs associated with this control.

◆ FeedForward

units::dimensionless::scalar_t ctre::phoenixpro::controls::MotionMagicTorqueCurrentFOC::FeedForward

Feedforward to apply in torque current in Amperes.

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

◆ OverrideCoastDurNeutral

bool ctre::phoenixpro::controls::MotionMagicTorqueCurrentFOC::OverrideCoastDurNeutral

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::phoenixpro::controls::MotionMagicTorqueCurrentFOC::Position

Position to drive toward in rotations.

◆ Slot

int ctre::phoenixpro::controls::MotionMagicTorqueCurrentFOC::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].

◆ UpdateFreqHz

units::frequency::hertz_t ctre::phoenixpro::controls::MotionMagicTorqueCurrentFOC::UpdateFreqHz {100_Hz}

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.

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

ctre/phoenixpro/controls/MotionMagicTorqueCurrentFOC.hpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MotionMagicTorqueCurrentFOC() [1/2]

◆ MotionMagicTorqueCurrentFOC() [2/2]

Member Function Documentation

◆ ForceApplyConfigs()

◆ ToString()

◆ WithFeedForward()

◆ WithOverrideCoastDurNeutral()

◆ WithPosition()

◆ WithSlot()

◆ WithUpdateFreqHz()

Member Data Documentation

◆ ConfigTimeout

◆ FeedForward

◆ OverrideCoastDurNeutral

◆ Position

◆ Slot

◆ UpdateFreqHz