:py:mod:`phoenix6.controls.dynamic_motion_magic_voltage` ======================================================== .. py:module:: phoenix6.controls.dynamic_motion_magic_voltage Module Contents --------------- .. py:class:: DynamicMotionMagicVoltage(position: phoenix6.units.rotation, velocity: phoenix6.units.rotations_per_second, acceleration: phoenix6.units.rotations_per_second_squared, jerk: phoenix6.units.rotations_per_second_cubed = 0.0, enable_foc: bool = True, feed_forward: phoenix6.units.volt = 0.0, slot: int = 0, override_brake_dur_neutral: bool = False, limit_forward_motion: bool = False, limit_reverse_motion: bool = False, ignore_hardware_limits: bool = False, ignore_software_limits: bool = False, use_timesync: bool = False) Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and (optional) Jerk. Users can optionally provide a voltage feedforward. Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and (optional) Jerk. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator. :param position: Position to drive toward in rotations. :type position: rotation :param velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. :type velocity: rotations_per_second :param acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation. :type acceleration: rotations_per_second_squared :param jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation. Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit. :type jerk: rotations_per_second_cubed :param enable_foc: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. :type enable_foc: bool :param feed_forward: Feedforward to apply in volts. This is added to the output of the onboard feedforward terms. :type feed_forward: volt :param slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. :type slot: int :param override_brake_dur_neutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. :type override_brake_dur_neutral: bool :param limit_forward_motion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. :type limit_forward_motion: bool :param limit_reverse_motion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. :type limit_reverse_motion: bool :param ignore_hardware_limits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion. This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter. The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter. :type ignore_hardware_limits: bool :param ignore_software_limits: Set to true to ignore software limits, instead allowing motion. This can be useful when calibrating the zero point of a mechanism such as an elevator. The software limit faults will still report the values of the software limits regardless of this parameter. :type ignore_software_limits: bool :param use_timesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency. This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz. :type use_timesync: bool .. 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:: position Position to drive toward in rotations. - Units: rotations .. py:attribute:: velocity Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. - Units: rotations per second .. py:attribute:: acceleration Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation. - Units: rotations per second² .. py:attribute:: jerk :value: '0.0' Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation. Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit. - Units: rotations per second³ .. py:attribute:: enable_foc :value: 'True' Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. .. py:attribute:: feed_forward :value: '0.0' Feedforward to apply in volts. This is added to the output of the onboard feedforward terms. - Units: Volts .. py:attribute:: slot :value: '0' Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. .. py:attribute:: override_brake_dur_neutral :value: 'False' Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. .. py:attribute:: limit_forward_motion :value: 'False' Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. .. py:attribute:: limit_reverse_motion :value: 'False' Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. .. py:attribute:: ignore_hardware_limits :value: 'False' Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion. This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter. The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter. .. py:attribute:: ignore_software_limits :value: 'False' Set to true to ignore software limits, instead allowing motion. This can be useful when calibrating the zero point of a mechanism such as an elevator. The software limit faults will still report the values of the software limits regardless of this parameter. .. py:attribute:: use_timesync :value: 'False' Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency. This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz. .. py:method:: with_position(new_position: phoenix6.units.rotation) -> Self Modifies this Control Request's position parameter and returns itself for method-chaining and easier to use request API. Position to drive toward in rotations. - Units: rotations :param new_position: Parameter to modify :type new_position: rotation :returns: Itself :rtype: DynamicMotionMagicVoltage .. py:method:: with_velocity(new_velocity: phoenix6.units.rotations_per_second) -> Self Modifies this Control Request's velocity parameter and returns itself for method-chaining and easier to use request API. Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. - Units: rotations per second :param new_velocity: Parameter to modify :type new_velocity: rotations_per_second :returns: Itself :rtype: DynamicMotionMagicVoltage .. py:method:: with_acceleration(new_acceleration: phoenix6.units.rotations_per_second_squared) -> Self Modifies this Control Request's acceleration parameter and returns itself for method-chaining and easier to use request API. Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation. - Units: rotations per second² :param new_acceleration: Parameter to modify :type new_acceleration: rotations_per_second_squared :returns: Itself :rtype: DynamicMotionMagicVoltage .. py:method:: with_jerk(new_jerk: phoenix6.units.rotations_per_second_cubed) -> Self Modifies this Control Request's jerk parameter and returns itself for method-chaining and easier to use request API. Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation. Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit. - Units: rotations per second³ :param new_jerk: Parameter to modify :type new_jerk: rotations_per_second_cubed :returns: Itself :rtype: DynamicMotionMagicVoltage .. py:method:: with_enable_foc(new_enable_foc: bool) -> Self Modifies this Control Request's enable_foc parameter and returns itself for method-chaining and easier to use request API. Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). Set to false to use trapezoidal commutation. FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains. :param new_enable_foc: Parameter to modify :type new_enable_foc: bool :returns: Itself :rtype: DynamicMotionMagicVoltage .. py:method:: with_feed_forward(new_feed_forward: phoenix6.units.volt) -> Self Modifies this Control Request's feed_forward parameter and returns itself for method-chaining and easier to use request API. Feedforward to apply in volts. This is added to the output of the onboard feedforward terms. - Units: Volts :param new_feed_forward: Parameter to modify :type new_feed_forward: volt :returns: Itself :rtype: DynamicMotionMagicVoltage .. py:method:: with_slot(new_slot: int) -> Self Modifies this Control Request's slot parameter and returns itself for method-chaining and easier to use request API. Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2]. :param new_slot: Parameter to modify :type new_slot: int :returns: Itself :rtype: DynamicMotionMagicVoltage .. py:method:: with_override_brake_dur_neutral(new_override_brake_dur_neutral: bool) -> Self Modifies this Control Request's override_brake_dur_neutral parameter and returns itself for method-chaining and easier to use request API. Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor. :param new_override_brake_dur_neutral: Parameter to modify :type new_override_brake_dur_neutral: bool :returns: Itself :rtype: DynamicMotionMagicVoltage .. py:method:: with_limit_forward_motion(new_limit_forward_motion: bool) -> Self Modifies this Control Request's limit_forward_motion parameter and returns itself for method-chaining and easier to use request API. Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. :param new_limit_forward_motion: Parameter to modify :type new_limit_forward_motion: bool :returns: Itself :rtype: DynamicMotionMagicVoltage .. py:method:: with_limit_reverse_motion(new_limit_reverse_motion: bool) -> Self Modifies this Control Request's limit_reverse_motion parameter and returns itself for method-chaining and easier to use request API. Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power. :param new_limit_reverse_motion: Parameter to modify :type new_limit_reverse_motion: bool :returns: Itself :rtype: DynamicMotionMagicVoltage .. py:method:: with_ignore_hardware_limits(new_ignore_hardware_limits: bool) -> Self Modifies this Control Request's ignore_hardware_limits parameter and returns itself for method-chaining and easier to use request API. Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion. This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter. The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter. :param new_ignore_hardware_limits: Parameter to modify :type new_ignore_hardware_limits: bool :returns: Itself :rtype: DynamicMotionMagicVoltage .. py:method:: with_ignore_software_limits(new_ignore_software_limits: bool) -> Self Modifies this Control Request's ignore_software_limits parameter and returns itself for method-chaining and easier to use request API. Set to true to ignore software limits, instead allowing motion. This can be useful when calibrating the zero point of a mechanism such as an elevator. The software limit faults will still report the values of the software limits regardless of this parameter. :param new_ignore_software_limits: Parameter to modify :type new_ignore_software_limits: bool :returns: Itself :rtype: DynamicMotionMagicVoltage .. py:method:: with_use_timesync(new_use_timesync: bool) -> Self Modifies this Control Request's use_timesync parameter and returns itself for method-chaining and easier to use request API. Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency. This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz. :param new_use_timesync: Parameter to modify :type new_use_timesync: bool :returns: Itself :rtype: DynamicMotionMagicVoltage .. py:method:: with_update_freq_hz(new_update_freq_hz: phoenix6.units.hertz) -> Self 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: DynamicMotionMagicVoltage