Closed-Loop Control#

Phoenix Pro enhances the experience of using onboard closed-loop control through the use of standardized units and a variety of control output types.

Closed Loop Gains#

These tables are for translating Phoenix 5 gains to Phoenix Pro DutyCycle gains.

Note

There are other control output types in Phoenix Pro that will change the magnitude of the gains.

Position (DutyCycle)#

Position gain conversion table from Phoenix 5 to Phoenix Pro

Velocity (DutyCycle)#

Velocity gain conversion table from Phoenix 5 to Phoenix Pro

Using Closed-Loop Control#

v5

 
// robot init, set slot 0 gains
m_motor.config_kF(0, 0.05, 50);
m_motor.config_kP(0, 0.046, 50);
m_motor.config_kI(0, 0.0002, 50);
m_motor.config_kD(0, 4.2, 50);

// enable voltage compensation
m_motor.configVoltageComSaturation(12);
m_motor.enableVoltageCompensation(true);

// periodic, run velocity control with slot 0 configs,
// target velocity of 50 rps (10240 ticks/100ms)
m_motor.selectProfileSlot(0, 0);
m_motor.set(ControlMode.Velocity, 10240);

// robot init, set slot 0 gains
m_motor.Config_kF(0, 0.05, 50);
m_motor.Config_kP(0, 0.046, 50);
m_motor.Config_kI(0, 0.0002, 50);
m_motor.Config_kD(0, 4.2, 50);

// enable voltage compensation
m_motor.ConfigVoltageComSaturation(12);
m_motor.EnableVoltageCompensation(true);

// periodic, run velocity control with slot 0 configs,
// target velocity of 50 rps (10240 ticks/100ms)
m_motor.SelectProfileSlot(0, 0);
m_motor.Set(ControlMode::Velocity, 10240);

Pro

 
// class member variable
VelocityVoltage m_velocity = new VelocityVoltage(0);

// robot init, set slot 0 gains
var slot0Configs = new Slot0Configs();
slot0Configs.kV = 0.12;
slot0Configs.kP = 0.11;
slot0Configs.kI = 0.5;
slot0Configs.kD = 0.01;
m_talonFX.getConfigurator().apply(slot0Configs, 0.050);

// periodic, run velocity control with slot 0 configs,
// target velocity of 50 rps
m_velocity.Slot = 0;
m_motor.setControl(m_velocity.withVelocity(50));

// class member variable
controls::VelocityVoltage m_velocity{0_tps};

// robot init, set slot 0 gains
configs::Slot0Configs slot0Configs{};
slot0Configs.kV = 0.12;
slot0Configs.kP = 0.11;
slot0Configs.kI = 0.5;
slot0Configs.kD = 0.01;
m_talonFX.GetConfigurator().Apply(slot0Configs, 50_ms);

// periodic, run velocity control with slot 0 configs,
// target velocity of 50 rps
m_velocity.Slot = 0;
m_motor.SetControl(m_velocity.WithVelocity(50_tps));

Motion Magic®#

v5

 
// robot init, set slot 0 gains
m_motor.config_kF(0, 0.05, 50);
// PID runs on position
m_motor.config_kP(0, 0.2, 50);
m_motor.config_kI(0, 0, 50);
m_motor.config_kD(0, 4.2, 50);

// set Motion Magic settings
m_motor.configMotionCruiseVelocity(16384); // 80 rps = 16384 ticks/100ms cruise velocity
m_motor.configMotionAcceleration(32768); // 160 rps/s = 32768 ticks/100ms/s acceleration
m_motor.configMotionSCurveStrength(3); // s-curve smoothing strength of 3

// enable voltage compensation
m_motor.configVoltageComSaturation(12);
m_motor.enableVoltageCompensation(true);

// periodic, run Motion Magic with slot 0 configs
m_motor.selectProfileSlot(0, 0);
// target position of 200 rotations (409600 ticks)
// add 0.02 (2%) arbitrary feedforward to overcome friction
m_motor.set(ControlMode.MotionMagic, 409600, DemandType.ArbitraryFeedforward, 0.02);

// robot init, set slot 0 gains
m_motor.Config_kF(0, 0.05, 50);
// PID runs on position
m_motor.Config_kP(0, 0.2, 50);
m_motor.Config_kI(0, 0, 50);
m_motor.Config_kD(0, 4.2, 50);

// set Motion Magic settings
m_motor.ConfigMotionCruiseVelocity(16384); // 80 rps = 16384 ticks/100ms cruise velocity
m_motor.ConfigMotionAcceleration(32768); // 160 rps/s = 32768 ticks/100ms/s acceleration
m_motor.ConfigMotionSCurveStrength(3); // s-curve smoothing strength of 3

// enable voltage compensation
m_motor.ConfigVoltageComSaturation(12);
m_motor.EnableVoltageCompensation(true);

// periodic, run Motion Magic with slot 0 configs
m_motor.SelectProfileSlot(0, 0);
// target position of 200 rotations (409600 ticks)
// add 0.02 (2%) arbitrary feedforward to overcome friction
m_motor.Set(ControlMode::MotionMagic, 409600, DemandType::ArbitraryFeedforward, 0.02);

Pro

Note

The Motion Magic® S-Curve Strength has been replaced with jerk control in Phoenix Pro.

// class member variable
MotionMagicVoltage m_motmag = new MotionMagicVoltage(0);

// robot init
var talonFXConfigs = new TalonFXConfiguration();

// set slot 0 gains
var slot0Configs = talonFXConfigs.Slot0Configs;
slot0Configs.kS = 0.24; // add 0.24 V to overcome friction
slot0Configs.kV = 0.12; // apply 12 V for a target velocity of 100 rps
// PID runs on position
slot0Configs.kP = 4.8;
slot0Configs.kI = 0;
slot0Configs.kD = 0.1;

// set Motion Magic settings
var motionMagicConfigs = talonFXConfigs.MotionMagicConfigs;
motionMagicConfigs.MotionMagicCruiseVelocity = 80; // 80 rps cruise velocity
motionMagicConfigs.MotionMagicAcceleration = 160; // 160 rps/s acceleration (0.5 seconds)
motionMagicConfigs.MotionMagicJerk = 1600; // 1600 rps/s^2 jerk (0.1 seconds)

m_talonFX.getConfigurator().apply(talonFXConfigs, 0.050);

// periodic, run Motion Magic with slot 0 configs,
// target position of 200 rotations
m_motmag.Slot = 0;
m_motor.setControl(m_motmag.withPosition(200));

// class member variable
controls::MotionMagicVoltage m_motmag{0_tr};

// robot init
configs::TalonFXConfiguration talonFXConfigs{};

// set slot 0 gains
auto& slot0Configs = talonFXConfigs.Slot0Configs;
slot0Configs.kS = 0.24; // add 0.24 V to overcome friction
slot0Configs.kV = 0.12; // apply 12 V for a target velocity of 100 rps
// PID runs on position
slot0Configs.kP = 4.8;
slot0Configs.kI = 0;
slot0Configs.kD = 0.1;

// set Motion Magic settings
auto& motionMagicConfigs = talonFXConfigs.MotionMagicConfigs;
motionMagicConfigs.MotionMagicCruiseVelocity = 80; // 80 rps cruise velocity
motionMagicConfigs.MotionMagicAcceleration = 160; // 160 rps/s acceleration (0.5 seconds)
motionMagicConfigs.MotionMagicJerk = 1600; // 1600 rps/s^2 jerk (0.1 seconds)

m_talonFX.GetConfigurator().Apply(talonFXConfigs, 50_ms);

// periodic, run Motion Magic with slot 0 configs,
// target position of 200 rotations
m_motmag.Slot = 0;
m_motor.SetControl(m_motmag.WithPosition(200_tr));

Motion Profiling#

The Motion Profile Executor is not supported in the current release of Phoenix Pro. Users can use Motion Magic® or run a motion profile on the robot controller.