Control Requests#

Phoenix Pro provides an extensive list of flexible control modes through the use of strongly-typed control requests.

Using Control Requests#

v5

 
// robot init, set voltage compensation to 12 V
m_motor.configVoltageComSaturation(12);
m_motor.enableVoltageCompensation(true);

// main robot code, command 12 V output
m_motor.set(ControlMode.PercentOutput, 1.0);

// robot init, set voltage compensation to 12 V
m_motor.ConfigVoltageComSaturation(12);
m_motor.EnableVoltageCompensation(true);

// main robot code, command 12 V output
m_motor.Set(ControlMode::PercentOutput, 1.0);

Pro

 
// class member variable
VoltageOut m_request = new VoltageOut(0);

// main robot code, command 12 V output
m_motor.setControl(m_request.withOutput(12.0));

// class member variable
controls::VoltageOut m_request{0_V};

// main robot code, command 12 V output
m_motor.SetControl(m_request.WithOutput(12_V));

Follower Motors#

v5

 
// robot init, set m_follower to follow m_leader
m_follower.follow(m_leader);
// m_follower should NOT oppose m_leader
m_follower.setInverted(TalonFXInvertType.FollowMaster);
// set m_strictFollower to follow m_leader
m_strictFollower.follow(m_leader);
// set m_strictFollower to ignore m_leader invert and use its own
m_strictFollower.setInverted(TalonFXInvertType.CounterClockwise);

// main robot code, command 100% output for m_leader
m_leader.set(ControlMode.PercentOutput, 1.0);
// - m_follower and m_strictFollower will also run at 100% output
// - m_follower will follow m_leader's invert, while m_strictFollower
//   ignores it and uses its own
// NOTE: if set(), neutralOutput(), or disable() is ever called on
//       the followers, they will stop following

// robot init, set m_follower to follow m_leader
m_follower.Follow(m_leader);
// m_follower should NOT oppose m_leader
m_follower.SetInverted(TalonFXInvertType::FollowMaster);
// set m_strictFollower to follow m_leader
m_strictFollower.Follow(m_leader);
// set m_strictFollower to ignore m_leader invert and use its own
m_strictFollower.SetInverted(TalonFXInvertType::CounterClockwise);

// main robot code, command 100% output for m_leader
m_leader.Set(ControlMode::PercentOutput, 1.0);
// - m_follower and m_strictFollower will also run at 100% output
// - m_follower will follow m_leader's invert, while m_strictFollower
//   ignores it and uses its own
// NOTE: if Set(), NeutralOutput(), or Disable() is ever called on
//       the followers, they will stop following

Pro

 
// class member variables
DutyCycle m_request = new DutyCycle(0);

// robot init, set m_follower to follow m_leader
// m_follower should NOT oppose leader
m_follower.setControl(new Follower(m_leader.getDeviceID(), false));
// set m_strictFollower to strict-follow m_leader
// strict followers ignore the leader's invert and use their own
m_strictFollower.setControl(new StrictFollower(m_leader.getDeviceID()));

// main robot code, command 100% output for m_leader
m_motor.setControl(m_request.withOutput(1.0));
// - m_follower and m_strictFollower will also run at 100% output
// - m_follower will follow m_leader's invert, while m_strictFollower
//   ignores it and uses its own

// class member variables
controls::DutyCycle m_request{0};

// robot init, set m_follower to follow m_leader
// m_follower should NOT oppose leader
m_follower.SetControl(controls::Follower{m_leader.GetDeviceID(), false});
// set m_strictFollower to strict-follow m_leader
// strict followers ignore the leader's invert and use their own
m_strictFollower.SetControl(controls::StrictFollower{m_leader.GetDeviceID()});

// main robot code, command 100% output for m_leader
m_motor.SetControl(m_request.WithOutput(1.0));
// - m_follower and m_strictFollower will also run at 100% output
// - m_follower will follow m_leader's invert, while m_strictFollower
//   ignores it and uses its own

Control Types#

In Phoenix Pro, voltage compensation has been replaced with the ability to directly specify the control output type.

All control output types are supported in open-loop and closed-loop control requests.

Open-loop Control Requests#

Phoenix 5

Phoenix Pro

PercentOutput

DutyCycleOut

PercentOutput + Voltage Compensation

VoltageOut

Phoenix 5 does not support torque control

TorqueCurrentFOC

Current closed-loop

This has been deprecated in Phoenix Pro.

  • Users looking to control torque should use TorqueCurrentFOC

  • Users looking to limit current should use supply and stator current limits
Closed-loop Control Requests#

Phoenix 5

Phoenix Pro

Position

PositionDutyCycle

Velocity

VelocityDutyCycle

MotionMagic

MotionMagicDutyCycle

Closed-loop + Voltage Compensation

{ClosedLoop}Voltage

Closed-loop + Torque Control (not supported in Phoenix 5)

{ClosedLoop}TorqueCurrentFOC