DCMotor to use for CTRE simulation

Technical Programming
1

For simulation in what context should I use an FOC version of DCMotor like DCMotor.getKrakenX60FOC(1) vs a non FOC like DCMotor.getKrakenX60(1).

Here is my thinking:
If I use voltage control, and set enableFOC to false then I would certainly use the non FOC DCMotor.

If I use FOC voltage control with the TorqueCurrentFOC requests in their API then I would assume I would use the FOC version of the DCMotor.

If I use the voltage control API, but enable FOC to true then do I use the FOC DCMotor or the non FOC DCMotor?

I understand that I would have to get Closed Loops constants in the units of the control setup I’m using either way, but I’m not sure about the DCMotor side of things.

2

Use DCMotor.getKrakenX60FOC(1).

FOC improves motor torque by keeping the motor’s magnetic field perfectly aligned with the rotor’s position. It improves the performance of the motor even if you’re requesting for a voltage output.

1 Like
3

I think you’re just overthinking things.

If you have Phoenix Pro, use the FOC model, if not then use the regular one.

4

Possibly, but fundamentally there are 3 ways to simulate a CTRE motor based on its different control modes from what catrix just pointed out.

Voltage - enableFOC=False: DCMotor is Not FOC
Voltage - enableFOC-True: DCMotor is FOC
TorqueCurentFOC: DCMotor is FOC

I would argue either way no matter what combo you use to characterize them individually.

5

I guess the real question is, when/why are you disabling FOC when you have Phoenix Pro?

Regardless of control mode used.

6

I think CTRE’s documentation gave some vague example as to when to use FOC with voltage control.

Suffice it to say if you are using voltage control on a CTRE motor enableFOC is set to true by default. I’m assuming it’s ignored if you don’t have PRO. Since I noticed that I thought it would be good to clarify the issue with which DCMotor to use while simulating

7

I don’t think I’ve seen anywhere in CTRE’s documentation that suggests a use case for disabling FOC. Could you point out where you saw that?