Talon FX

[naman1034]

does anyone know the difference between velocity voltage and revolutions for the talon fx motors and how to use them?

[bwg]

Velocity Voltage is a type of control request.  It is how we get the motor to do waht we want.  CTRE Phoenix 6 supports a large number of differen types of these.

Open loop requests include DutyCycleOut, VoltageOut, and TorqueCurrentFOC.  Open loops means we apply a signal to the motor and we get what we get.

Close loop requests can control position, velocity, and motion magic.  In these moves, the position, velocity, or plan (created via motion matgic) are monitored and the motor control ensures you hit the desired position, velocity, or motion magic position.  Basically position is a PID loop with the motor position as the output.  Velocity is a PID loop with motor velocity as the output.  Finally motion magic is position but with a velocity controlled plan to reach the target position (think trapezoidal or more advanced).

These can be combined.  For instance, VelocityVoltage is closed loop control to a velocity by applying a voltage at the output of the PID loop.
VelocityDutyCycle is closed loop control at a velocity with duty cycle as the output.

https://v6.docs.ctr-electronics.com/en/s...guide.html#

Revolutions is just how the motor mesures position.

If you have more questions, ask tonight ...

Thanks
Butch