001/* 002 * Copyright (C) Cross The Road Electronics. All rights reserved. 003 * License information can be found in CTRE_LICENSE.txt 004 * For support and suggestions contact support@ctr-electronics.com or file 005 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases 006 */ 007package com.ctre.phoenixpro.controls; 008 009import com.ctre.phoenixpro.StatusCode; 010import com.ctre.phoenixpro.controls.jni.ControlJNI; 011import com.ctre.phoenixpro.controls.jni.ControlConfigJNI; 012 013/** 014 * Request PID to target velocity with voltage feedforward. 015 * <p> 016 * This control mode will set the motor's velocity setpoint to the velocity specified by the user. In 017 * addition, it will apply an additional voltage as an arbitrary feedforward value. 018 */ 019public class VelocityVoltage extends ControlRequest 020{ 021 private boolean applyConfigsOnRequest; 022 /** 023 * Velocity to drive toward in rotations per second. 024 */ 025 public double Velocity; 026 /** 027 * Set to true to use FOC commutation, which increases peak power by ~15%. Set 028 * to false to use trapezoidal commutation. FOC improves motor performance by 029 * leveraging torque (current) control. However, this may be inconvenient for 030 * applications that require specifying duty cycle or voltage. CTR-Electronics 031 * has developed a hybrid method that combines the performances gains of FOC 032 * while still allowing applications to provide duty cycle or voltage demand. 033 * This not to be confused with simple sinusoidal control or phase voltage 034 * control which lacks the performance gains. 035 */ 036 public boolean EnableFOC; 037 /** 038 * Feedforward to apply in volts 039 */ 040 public double FeedForward; 041 /** 042 * Select which gains are applied by selecting the slot. Use the configuration 043 * api to set the gain values for the selected slot before enabling this 044 * feature. Slot must be within [0,2]. 045 */ 046 public int Slot; 047 /** 048 * Set to true to static-brake the rotor when output is zero (or within 049 * deadband). Set to false to use the NeutralMode configuration setting 050 * (default). This flag exists to provide the fundamental behavior of this 051 * control when output is zero, which is to provide 0V to the motor. 052 */ 053 public boolean OverrideBrakeDurNeutral; 054 055 056 /** 057 * The period at which this control will update at. 058 * This is designated in Hertz, with a minimum of 20 Hz 059 * (every 50 ms) and a maximum of 1000 Hz (every 1 ms). 060 * <p> 061 * If this field is set to 0 Hz, the control request will 062 * be sent immediately as a one-shot frame. This may be useful 063 * for advanced applications that require outputs to be 064 * synchronized with data acquisition. In this case, we 065 * recommend not exceeding 50 ms between control calls. 066 */ 067 public double UpdateFreqHz = 100; // Default to 100Hz 068 069 /** 070 * The timeout when sending configs associated with this control 071 */ 072 public double configTimeout = 0.1; 073 074 /** 075 * Request PID to target velocity with voltage feedforward. 076 * <p> 077 * This control mode will set the motor's velocity setpoint to the velocity 078 * specified by the user. In addition, it will apply an additional voltage 079 * as an arbitrary feedforward value. 080 * 081 * @param Velocity Velocity to drive toward in rotations per second. 082 * @param EnableFOC Set to true to use FOC commutation, which increases 083 * peak power by ~15%. Set to false to use trapezoidal 084 * commutation. FOC improves motor performance by 085 * leveraging torque (current) control. However, this 086 * may be inconvenient for applications that require 087 * specifying duty cycle or voltage. CTR-Electronics 088 * has developed a hybrid method that combines the 089 * performances gains of FOC while still allowing 090 * applications to provide duty cycle or voltage 091 * demand. This not to be confused with simple 092 * sinusoidal control or phase voltage control which 093 * lacks the performance gains. 094 * @param FeedForward Feedforward to apply in volts 095 * @param Slot Select which gains are applied by selecting the slot. 096 * Use the configuration api to set the gain values for the 097 * selected slot before enabling this feature. Slot must be 098 * within [0,2]. 099 * @param OverrideBrakeDurNeutral Set to true to static-brake the rotor 100 * when output is zero (or within 101 * deadband). Set to false to use the 102 * NeutralMode configuration setting 103 * (default). This flag exists to provide 104 * the fundamental behavior of this 105 * control when output is zero, which is 106 * to provide 0V to the motor. 107 */ 108 public VelocityVoltage(double Velocity, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral) 109 { 110 super("VelocityVoltage"); 111 this.Velocity = Velocity; 112 this.EnableFOC = EnableFOC; 113 this.FeedForward = FeedForward; 114 this.Slot = Slot; 115 this.OverrideBrakeDurNeutral = OverrideBrakeDurNeutral; 116 } 117 118 /** 119 * Request PID to target velocity with voltage feedforward. 120 * <p> 121 * This control mode will set the motor's velocity setpoint to the velocity 122 * specified by the user. In addition, it will apply an additional voltage 123 * as an arbitrary feedforward value. 124 * 125 * @param Velocity Velocity to drive toward in rotations per second. 126 */ 127 public VelocityVoltage(double Velocity) 128 { 129 this(Velocity, true, 0.0, 0, false); 130 } 131 132 @Override 133 public String toString() 134 { 135 String ss = "class: VelocityVoltage\n"; 136 ss += "Velocity: " + Velocity + "\n"; 137 ss += "EnableFOC: " + EnableFOC + "\n"; 138 ss += "FeedForward: " + FeedForward + "\n"; 139 ss += "Slot: " + Slot + "\n"; 140 ss += "OverrideBrakeDurNeutral: " + OverrideBrakeDurNeutral + "\n"; 141 return ss; 142 } 143 144 @Override 145 public StatusCode sendRequest(String network, int deviceHash, boolean cancelOtherRequests) 146 { 147 var ref = requestReference.getNameValues(); 148 ref.put("Velocity", String.valueOf(this.Velocity)); 149 ref.put("EnableFOC", String.valueOf(this.EnableFOC)); 150 ref.put("FeedForward", String.valueOf(this.FeedForward)); 151 ref.put("Slot", String.valueOf(this.Slot)); 152 ref.put("OverrideBrakeDurNeutral", String.valueOf(this.OverrideBrakeDurNeutral)); 153 String ss = ""; 154 155 ControlConfigJNI.JNI_RequestConfigApply(network, deviceHash, configTimeout, ss, applyConfigsOnRequest); 156 applyConfigsOnRequest = false; 157 return StatusCode.valueOf(ControlJNI.JNI_RequestControlVelocityVoltage( 158 network, deviceHash, UpdateFreqHz, cancelOtherRequests, Velocity, EnableFOC, FeedForward, Slot, OverrideBrakeDurNeutral)); 159 } 160 161 /** 162 * Modifies this Control Request's Velocity parameter and returns itself for 163 * method-chaining and easier to use request API. 164 * 165 * @param newVelocity Parameter to modify 166 * @return Itself 167 */ 168 public VelocityVoltage withVelocity(double newVelocity) 169 { 170 Velocity = newVelocity; 171 return this; 172 } 173 174 /** 175 * Modifies this Control Request's EnableFOC parameter and returns itself for 176 * method-chaining and easier to use request API. 177 * 178 * @param newEnableFOC Parameter to modify 179 * @return Itself 180 */ 181 public VelocityVoltage withEnableFOC(boolean newEnableFOC) 182 { 183 EnableFOC = newEnableFOC; 184 return this; 185 } 186 187 /** 188 * Modifies this Control Request's FeedForward parameter and returns itself for 189 * method-chaining and easier to use request API. 190 * 191 * @param newFeedForward Parameter to modify 192 * @return Itself 193 */ 194 public VelocityVoltage withFeedForward(double newFeedForward) 195 { 196 FeedForward = newFeedForward; 197 return this; 198 } 199 200 /** 201 * Modifies this Control Request's Slot parameter and returns itself for 202 * method-chaining and easier to use request API. 203 * 204 * @param newSlot Parameter to modify 205 * @return Itself 206 */ 207 public VelocityVoltage withSlot(int newSlot) 208 { 209 Slot = newSlot; 210 return this; 211 } 212 213 /** 214 * Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for 215 * method-chaining and easier to use request API. 216 * 217 * @param newOverrideBrakeDurNeutral Parameter to modify 218 * @return Itself 219 */ 220 public VelocityVoltage withOverrideBrakeDurNeutral(boolean newOverrideBrakeDurNeutral) 221 { 222 OverrideBrakeDurNeutral = newOverrideBrakeDurNeutral; 223 return this; 224 } 225 /** 226 * Sets the period at which this control will update at. 227 * This is designated in Hertz, with a minimum of 20 Hz 228 * (every 50 ms) and a maximum of 1000 Hz (every 1 ms). 229 * <p> 230 * If this field is set to 0 Hz, the control request will 231 * be sent immediately as a one-shot frame. This may be useful 232 * for advanced applications that require outputs to be 233 * synchronized with data acquisition. In this case, we 234 * recommend not exceeding 50 ms between control calls. 235 * 236 * @param newUpdateFreqHz Parameter to modify 237 * @return Itself 238 */ 239 public VelocityVoltage withUpdateFreqHz(double newUpdateFreqHz) 240 { 241 UpdateFreqHz = newUpdateFreqHz; 242 return this; 243 } 244 /** 245 * Forces configs to be applied the next time this is used in a setControl. 246 * <p> 247 * This is not necessary in the majority of cases, because Phoenix will make sure configs are 248 * properly set when they are not already set 249 */ 250 public void forceApplyConfigs() { applyConfigsOnRequest = true; } 251} 252