Class VelocityTorqueCurrentFOC
public class VelocityTorqueCurrentFOC extends ControlRequest
This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.
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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).int
Slot
Select which gains are applied by selecting the slot.double
UpdateFreqHz
The period at which this control will update at.double
Velocity
Velocity to drive toward in rotations per second. -
Constructor Summary
Constructors Constructor Description VelocityTorqueCurrentFOC(double Velocity)
Request PID to target velocity with torque current feedforward.VelocityTorqueCurrentFOC(double Velocity, double FeedForward, int Slot, boolean OverrideCoastDurNeutral)
Request PID to target velocity with torque current 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()
VelocityTorqueCurrentFOC
withFeedForward(double newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easier to use request API.VelocityTorqueCurrentFOC
withOverrideCoastDurNeutral(boolean newOverrideCoastDurNeutral)
Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chaining and easier to use request API.VelocityTorqueCurrentFOC
withSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to use request API.VelocityTorqueCurrentFOC
withUpdateFreqHz(double newUpdateFreqHz)
Sets the period at which this control will update at.VelocityTorqueCurrentFOC
withVelocity(double newVelocity)
Modifies this Control Request's Velocity parameter and returns itself for method-chaining and easier to use request API.
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Field Details
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Velocity
Velocity to drive toward in rotations per second. -
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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VelocityTorqueCurrentFOC
public VelocityTorqueCurrentFOC(double Velocity, double FeedForward, int Slot, boolean OverrideCoastDurNeutral)Request PID to target velocity with torque current feedforward.This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.
- Parameters:
Velocity
- Velocity to drive toward in rotations per second.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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VelocityTorqueCurrentFOC
Request PID to target velocity with torque current feedforward.This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.
- Parameters:
Velocity
- Velocity to drive toward in rotations per second.
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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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withVelocity
Modifies this Control Request's Velocity parameter and returns itself for method-chaining and easier to use request API.- Parameters:
newVelocity
- 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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