Class MotionMagicTorqueCurrentFOC
public class MotionMagicTorqueCurrentFOC extends ControlRequest
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.
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Field Summary
Fields Modifier and Type Field Description double
configTimeout
The timeout when sending configs associated with this controldouble
FeedForward
Feedforward to apply in torque current in Amperes.boolean
OverrideCoastDurNeutral
Set to true to coast the rotor when output is zero (or within deadband).double
Position
Position to drive toward in rotations.int
Slot
Select which gains are applied by selecting the slot.double
UpdateFreqHz
The period at which this control will update at. -
Constructor Summary
Constructors Constructor Description MotionMagicTorqueCurrentFOC(double Position)
Requests Motion Magic® to target a final position using a motion profile.MotionMagicTorqueCurrentFOC(double Position, double FeedForward, int Slot, boolean OverrideCoastDurNeutral)
Requests Motion Magic® to target a final position using a motion profile. -
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()
MotionMagicTorqueCurrentFOC
withFeedForward(double newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.MotionMagicTorqueCurrentFOC
withOverrideCoastDurNeutral(boolean newOverrideCoastDurNeutral)
Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chaining and easier to use request API.MotionMagicTorqueCurrentFOC
withPosition(double newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier to use request API.MotionMagicTorqueCurrentFOC
withSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API.MotionMagicTorqueCurrentFOC
withUpdateFreqHz(double newUpdateFreqHz)
Sets the period at which this control will update at.
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Field Details
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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). -
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.
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configTimeout
The timeout when sending configs associated with this control
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Constructor Details
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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).
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MotionMagicTorqueCurrentFOC
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.
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Method Details
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toString
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sendRequest
- Specified by:
sendRequest
in classControlRequest
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withPosition
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
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withFeedForward
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
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withSlot
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
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withOverrideCoastDurNeutral
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
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withUpdateFreqHz
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
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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
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