:py:mod:`phoenix6.controls.static_brake`
========================================

.. py:module:: phoenix6.controls.static_brake

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


.. py:class:: StaticBrake(use_timesync: bool = False)


   Applies full neutral-brake by shorting motor leads together.

   :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: '20'

      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:: 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_use_timesync(new_use_timesync: bool) -> StaticBrake

      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: StaticBrake


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

      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: StaticBrake