:py:mod:`phoenix6.controls.motion_magic_velocity_torque_current_foc` ==================================================================== .. py:module:: phoenix6.controls.motion_magic_velocity_torque_current_foc Module Contents --------------- .. py:class:: MotionMagicVelocityTorqueCurrentFOC(velocity: phoenix6.units.rotations_per_second, acceleration: phoenix6.units.rotations_per_second_squared = 0.0, feed_forward: phoenix6.units.ampere = 0.0, slot: int = 0, override_coast_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) Requests Motion Magic® to target a final velocity using a motion profile. This allows smooth transitions between velocity set points. Users can optionally provide a torque feedforward. Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs. If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile. Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator. :param velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly. :type velocity: rotations_per_second :param acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used. :type acceleration: rotations_per_second_squared :param feed_forward: Feedforward to apply in torque current in Amperes. This is added to the output of the onboard feedforward terms. User can use motor's kT to scale Newton-meter to Amperes. :type feed_forward: ampere :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_coast_dur_neutral: Set to true to coast 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 0A (zero torque). :type override_coast_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:: velocity Target velocity to drive toward in rotations per second. This can be changed on-the fly. - Units: rotations per second .. py:attribute:: acceleration :value: '0.0' This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used. - Units: rotations per second² .. py:attribute:: feed_forward :value: '0.0' Feedforward to apply in torque current in Amperes. This is added to the output of the onboard feedforward terms. User can use motor's kT to scale Newton-meter to Amperes. - Units: A .. 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_coast_dur_neutral :value: 'False' Set to true to coast 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 0A (zero torque). .. 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_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. Target velocity to drive toward in rotations per second. This can be changed on-the fly. - Units: rotations per second :param new_velocity: Parameter to modify :type new_velocity: rotations_per_second :returns: Itself :rtype: MotionMagicVelocityTorqueCurrentFOC .. 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. This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used. - Units: rotations per second² :param new_acceleration: Parameter to modify :type new_acceleration: rotations_per_second_squared :returns: Itself :rtype: MotionMagicVelocityTorqueCurrentFOC .. py:method:: with_feed_forward(new_feed_forward: phoenix6.units.ampere) -> 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 torque current in Amperes. This is added to the output of the onboard feedforward terms. User can use motor's kT to scale Newton-meter to Amperes. - Units: A :param new_feed_forward: Parameter to modify :type new_feed_forward: ampere :returns: Itself :rtype: MotionMagicVelocityTorqueCurrentFOC .. 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: MotionMagicVelocityTorqueCurrentFOC .. py:method:: with_override_coast_dur_neutral(new_override_coast_dur_neutral: bool) -> Self Modifies this Control Request's override_coast_dur_neutral parameter and returns itself for method-chaining and easier to use request API. Set to true to coast 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 0A (zero torque). :param new_override_coast_dur_neutral: Parameter to modify :type new_override_coast_dur_neutral: bool :returns: Itself :rtype: MotionMagicVelocityTorqueCurrentFOC .. 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: MotionMagicVelocityTorqueCurrentFOC .. 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: MotionMagicVelocityTorqueCurrentFOC .. 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: MotionMagicVelocityTorqueCurrentFOC .. 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: MotionMagicVelocityTorqueCurrentFOC .. 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: MotionMagicVelocityTorqueCurrentFOC .. 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: MotionMagicVelocityTorqueCurrentFOC