Package com.ctre.phoenixpro.controls

Class TorqueCurrentFOC

java.lang.Object
com.ctre.phoenixpro.controls.ControlRequest
com.ctre.phoenixpro.controls.TorqueCurrentFOC
public class TorqueCurrentFOC
extends ControlRequest
Request a specified motor current (field oriented control).

This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.

  • Field Summary

    Fields 
    Modifier and Type Field Description
    double configTimeout
    The timeout when sending configs associated with this control
    double Deadband
    Deadband in Amperes.
    double MaxAbsDutyCycle
    The maximum absolute motor output that can be applied, which effectively limits the velocity.
    double Output
    Amount of motor current in Amperes
    boolean OverrideCoastDurNeutral
    Set to true to coast 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
    TorqueCurrentFOC​(double Output)
    Request a specified motor current (field oriented control).
    TorqueCurrentFOC​(double Output, double MaxAbsDutyCycle, double Deadband, boolean OverrideCoastDurNeutral)
    Request a specified motor current (field oriented control).

  • 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()  
    TorqueCurrentFOC withDeadband​(double newDeadband)
    Modifies this Control Request's Deadband parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC withMaxAbsDutyCycle​(double newMaxAbsDutyCycle)
    Modifies this Control Request's MaxAbsDutyCycle parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC withOutput​(double newOutput)
    Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC withOverrideCoastDurNeutral​(boolean newOverrideCoastDurNeutral)
    Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chaining and easier to use request API.
    TorqueCurrentFOC 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
      Amount of motor current in Amperes

    • MaxAbsDutyCycle

      public double MaxAbsDutyCycle
      The maximum absolute motor output that can be applied, which effectively limits the velocity. For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one.

    • Deadband

      public double Deadband
      Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.

    • 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

    • TorqueCurrentFOC

      public TorqueCurrentFOC​(double Output, double MaxAbsDutyCycle, double Deadband, boolean OverrideCoastDurNeutral)
      Request a specified motor current (field oriented control).

      This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.

      Parameters:
      Output - Amount of motor current in Amperes
      MaxAbsDutyCycle - The maximum absolute motor output that can be applied, which effectively limits the velocity. For example, 0.50 means no more than 50% output in either direction. This is useful for preventing the motor from spinning to its terminal velocity when there is no external torque applied unto the rotor. Note this is absolute maximum, so the value should be between zero and one.
      Deadband - Deadband in Amperes. If torque request is within deadband, the bridge output is neutral. If deadband is set to zero then there is effectively no deadband. Note if deadband is zero, a free spinning motor will spin for quite a while as the firmware attempts to hold the motor's bemf. If user expects motor to cease spinning quickly with a demand of zero, we recommend a deadband of one Ampere. This value will be converted to an integral value of amps.
      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).

    • TorqueCurrentFOC

      public TorqueCurrentFOC​(double Output)
      Request a specified motor current (field oriented control).

      This control request will drive the motor to the requested motor (stator) current value. This leverages field oriented control (FOC), which means greater peak power than what is documented. This scales to torque based on Motor's kT constant.

      Parameters:
      Output - Amount of motor current in Amperes

  • 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 TorqueCurrentFOC 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

    • withMaxAbsDutyCycle

      public TorqueCurrentFOC withMaxAbsDutyCycle​(double newMaxAbsDutyCycle)
      Modifies this Control Request's MaxAbsDutyCycle parameter and returns itself for method-chaining and easier to use request API.
      Parameters:
      newMaxAbsDutyCycle - Parameter to modify
      Returns:
      Itself

    • withDeadband

      public TorqueCurrentFOC withDeadband​(double newDeadband)
      Modifies this Control Request's Deadband parameter and returns itself for method-chaining and easier to use request API.
      Parameters:
      newDeadband - Parameter to modify
      Returns:
      Itself

    • withOverrideCoastDurNeutral

      public TorqueCurrentFOC 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 TorqueCurrentFOC 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