Package com.ctre.phoenixpro.controls

Class PositionVoltage

java.lang.Object
com.ctre.phoenixpro.controls.ControlRequest
com.ctre.phoenixpro.controls.PositionVoltage
public class PositionVoltage
extends ControlRequest
Request PID to target position with voltage feedforward

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

  • 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 FeedForward
    Feedforward to apply in volts
    boolean OverrideBrakeDurNeutral
    Set to true to static-brake 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.

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

    requestReference

  • Constructor Summary

    Constructors 
    Constructor Description
    PositionVoltage​(double Position)
    Request PID to target position with voltage feedforward
    PositionVoltage​(double Position, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral)
    Request PID to target position with voltage feedforward

  • 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()  
    PositionVoltage withEnableFOC​(boolean newEnableFOC)
    Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier to use request API.
    PositionVoltage withFeedForward​(double newFeedForward)
    Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.
    PositionVoltage withOverrideBrakeDurNeutral​(boolean newOverrideBrakeDurNeutral)
    Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chaining and easier to use request API.
    PositionVoltage withPosition​(double newPosition)
    Modifies this Control Request's Position parameter and returns itself for method-chaining and easier to use request API.
    PositionVoltage withSlot​(int newSlot)
    Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API.
    PositionVoltage 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

    • Position

      public double Position
      Position to drive toward in rotations.

    • 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.

    • FeedForward

      public double FeedForward
      Feedforward to apply in 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.

    • 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

    • PositionVoltage

      public PositionVoltage​(double Position, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral)
      Request PID to target position with voltage feedforward

      This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

      Parameters:
      Position - Position to drive toward in rotations.
      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.
      FeedForward - Feedforward to apply in volts
      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 - 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.

    • PositionVoltage

      public PositionVoltage​(double Position)
      Request PID to target position with voltage feedforward

      This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

      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 PositionVoltage 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

    • withEnableFOC

      public PositionVoltage 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

    • withFeedForward

      public PositionVoltage 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 PositionVoltage 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

    • withOverrideBrakeDurNeutral

      public PositionVoltage 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 PositionVoltage 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