Package com.ctre.phoenixpro.controls

Class DutyCycleOut

java.lang.Object
com.ctre.phoenixpro.controls.ControlRequest
com.ctre.phoenixpro.controls.DutyCycleOut
public class DutyCycleOut
extends ControlRequest
Request a specified motor duty cycle.

This control mode will output a proportion of the supplied voltage which is supplied by the user.

  • Field Summary

    Fields 
    Modifier and Type Field Description
    double configTimeout
    The timeout when sending configs associated with this control
    boolean EnableFOC
    Set to true to use FOC commutation, which increases peak power by ~15%.
    double Output
    Proportion of supply voltage to apply in fractional units between -1 and +1
    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.phoenixpro.controls.ControlRequest

    requestReference

  • Constructor Summary

    Constructors 
    Constructor Description
    DutyCycleOut​(double Output)
    Request a specified motor duty cycle.
    DutyCycleOut​(double Output, boolean EnableFOC, boolean OverrideBrakeDurNeutral)
    Request a specified motor duty cycle.

  • Method Summary

    Modifier and Type Method Description
    void forceApplyConfigs()
    Forces configs to be applied the next time this is used in a setControl.
    StatusCode sendRequest​(String network, int deviceHash, boolean cancelOtherRequests)  
    String toString()  
    DutyCycleOut withEnableFOC​(boolean newEnableFOC)
    Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.
    DutyCycleOut withOutput​(double newOutput)
    Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.
    DutyCycleOut withOverrideBrakeDurNeutral​(boolean newOverrideBrakeDurNeutral)
    Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.
    DutyCycleOut withUpdateFreqHz​(double newUpdateFreqHz)
    Sets the period at which this control will update at.

    Methods inherited from class com.ctre.phoenixpro.controls.ControlRequest

    getControlInfo

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

  • Field Details

    • Output

      public double Output
      Proportion of supply voltage to apply in fractional units between -1 and +1

    • EnableFOC

      public boolean EnableFOC
      Set to true to use FOC commutation, 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.

    • 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.

    • configTimeout

      public double configTimeout
      The timeout when sending configs associated with this control

  • Constructor Details

    • DutyCycleOut

      public DutyCycleOut​(double Output, boolean EnableFOC, boolean OverrideBrakeDurNeutral)
      Request a specified motor duty cycle.

      This control mode will output a proportion of the supplied voltage which is supplied by the user.

      Parameters:
      Output - Proportion of supply voltage to apply in fractional units between -1 and +1
      EnableFOC - Set to true to use FOC commutation, 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.

    • DutyCycleOut

      public DutyCycleOut​(double Output)
      Request a specified motor duty cycle.

      This control mode will output a proportion of the supplied voltage which is supplied by the user.

      Parameters:
      Output - Proportion of supply voltage to apply in fractional units between -1 and +1

  • 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

    • withOutput

      public DutyCycleOut withOutput​(double newOutput)
      Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.
      Parameters:
      newOutput - Parameter to modify
      Returns:
      Itself

    • withEnableFOC

      public DutyCycleOut withEnableFOC​(boolean newEnableFOC)
      Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.
      Parameters:
      newEnableFOC - Parameter to modify
      Returns:
      Itself

    • withOverrideBrakeDurNeutral

      public DutyCycleOut withOverrideBrakeDurNeutral​(boolean newOverrideBrakeDurNeutral)
      Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.
      Parameters:
      newOverrideBrakeDurNeutral - Parameter to modify
      Returns:
      Itself

    • withUpdateFreqHz

      public DutyCycleOut 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

    • forceApplyConfigs

      public void forceApplyConfigs()
      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