Class MotionMagicTorqueCurrentFOC

java.lang.Object
com.ctre.phoenixpro.controls.ControlRequest
com.ctre.phoenixpro.controls.MotionMagicTorqueCurrentFOC

public class MotionMagicTorqueCurrentFOC
extends ControlRequest
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.

  • Field Details

    • Position

      public double Position
      Position to drive toward in rotations.
    • FeedForward

      public double FeedForward
      Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes.
    • 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].
    • OverrideCoastDurNeutral

      public boolean 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).
    • 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

    • MotionMagicTorqueCurrentFOC

      public MotionMagicTorqueCurrentFOC​(double Position, double FeedForward, int Slot, boolean OverrideCoastDurNeutral)
      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

      public MotionMagicTorqueCurrentFOC​(double Position)
      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.
  • 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
    • withPosition

      public MotionMagicTorqueCurrentFOC withPosition​(double newPosition)
      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
    • withFeedForward

      public MotionMagicTorqueCurrentFOC withFeedForward​(double newFeedForward)
      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
    • withSlot

      public MotionMagicTorqueCurrentFOC withSlot​(int newSlot)
      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
    • withOverrideCoastDurNeutral

      public MotionMagicTorqueCurrentFOC withOverrideCoastDurNeutral​(boolean newOverrideCoastDurNeutral)
      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
    • withUpdateFreqHz

      public MotionMagicTorqueCurrentFOC 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