:py:mod:`phoenix6.controls.compound.diff_motion_magic_torque_current_foc_velocity`
==================================================================================

.. py:module:: phoenix6.controls.compound.diff_motion_magic_torque_current_foc_velocity

Module Contents
---------------


.. py:class:: Diff_MotionMagicTorqueCurrentFOC_Velocity(average_request: phoenix6.controls.motion_magic_torque_current_foc.MotionMagicTorqueCurrentFOC, differential_request: phoenix6.controls.velocity_torque_current_foc.VelocityTorqueCurrentFOC)


   Requires Phoenix Pro and CANivore;
   Differential control with Motion Magic® average target and velocity difference
   target using torque current control.

   :param average_request: Average MotionMagicTorqueCurrentFOC request of the
                           mechanism.
   :type average_request: MotionMagicTorqueCurrentFOC
   :param differential_request: Differential VelocityTorqueCurrentFOC request of
                                the mechanism.
   :type differential_request: VelocityTorqueCurrentFOC

   .. py:property:: name
      :type: str

      Gets the name of this control request.

      :returns: Name of the control request
      :rtype: str


   .. py:property:: control_info
      :type: dict

      Gets information about this control request.

      :returns: Dictonary of control parameter names and corresponding applied values
      :rtype: dict


   .. py:attribute:: update_freq_hz
      :type: phoenix6.units.hertz
      :value: '100'

      The frequency at which this control will update.
      This is designated in Hertz, with a minimum of 20 Hz
      (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
      Some update frequencies are not supported and will be
      promoted up to the next highest supported frequency.

      If this field is set to 0 Hz, the control request will
      be sent immediately as a one-shot frame. This may be useful
      for advanced applications that require outputs to be
      synchronized with data acquisition. In this case, we
      recommend not exceeding 50 ms between control calls.


   .. py:attribute:: average_request

      Average MotionMagicTorqueCurrentFOC request of the mechanism.


   .. py:attribute:: differential_request

      Differential VelocityTorqueCurrentFOC request of the mechanism.


   .. py:method:: with_average_request(new_average_request: phoenix6.controls.motion_magic_torque_current_foc.MotionMagicTorqueCurrentFOC) -> Diff_MotionMagicTorqueCurrentFOC_Velocity

      Modifies this Control Request's average_request parameter and returns itself for
      method-chaining and easier to use request API.

      Average MotionMagicTorqueCurrentFOC request of the mechanism.

      :param new_average_request: Parameter to modify
      :type new_average_request: MotionMagicTorqueCurrentFOC
      :returns: Itself
      :rtype: Diff_MotionMagicTorqueCurrentFOC_Velocity


   .. py:method:: with_differential_request(new_differential_request: phoenix6.controls.velocity_torque_current_foc.VelocityTorqueCurrentFOC) -> Diff_MotionMagicTorqueCurrentFOC_Velocity

      Modifies this Control Request's differential_request parameter and returns itself for
      method-chaining and easier to use request API.

      Differential VelocityTorqueCurrentFOC request of the mechanism.

      :param new_differential_request: Parameter to modify
      :type new_differential_request: VelocityTorqueCurrentFOC
      :returns: Itself
      :rtype: Diff_MotionMagicTorqueCurrentFOC_Velocity


   .. py:method:: with_update_freq_hz(new_update_freq_hz: phoenix6.units.hertz) -> Diff_MotionMagicTorqueCurrentFOC_Velocity

      Sets the frequency at which this control will update.
      This is designated in Hertz, with a minimum of 20 Hz
      (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
      Some update frequencies are not supported and will be
      promoted up to the next highest supported frequency.

      If this field is set to 0 Hz, the control request will
      be sent immediately as a one-shot frame. This may be useful
      for advanced applications that require outputs to be
      synchronized with data acquisition. In this case, we
      recommend not exceeding 50 ms between control calls.

      :param new_update_freq_hz: Parameter to modify
      :type new_update_freq_hz: hertz
      :returns: Itself
      :rtype: Diff_MotionMagicTorqueCurrentFOC_Velocity