phoenix6.controls.compound.diff_velocity_duty_cycle_velocity¶
Module Contents¶
- class phoenix6.controls.compound.diff_velocity_duty_cycle_velocity.Diff_VelocityDutyCycle_Velocity(average_request: phoenix6.controls.velocity_duty_cycle.VelocityDutyCycle, differential_request: phoenix6.controls.velocity_duty_cycle.VelocityDutyCycle)¶
Requires Phoenix Pro and CANivore; Differential control with velocity average target and velocity difference target using duty cycle control.
- Parameters:
average_request (VelocityDutyCycle) – Average VelocityDutyCycle request of the mechanism.
differential_request (VelocityDutyCycle) – Differential VelocityDutyCycle request of the mechanism.
- property name: str¶
Gets the name of this control request.
- Returns:
Name of the control request
- Return type:
str
- property control_info: dict¶
Gets information about this control request.
- Returns:
Dictonary of control parameter names and corresponding applied values
- Return type:
dict
- update_freq_hz: phoenix6.units.hertz = 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.
- average_request¶
Average VelocityDutyCycle request of the mechanism.
- differential_request¶
Differential VelocityDutyCycle request of the mechanism.
- with_average_request(new_average_request: phoenix6.controls.velocity_duty_cycle.VelocityDutyCycle) Diff_VelocityDutyCycle_Velocity¶
Modifies this Control Request’s average_request parameter and returns itself for method-chaining and easier to use request API.
Average VelocityDutyCycle request of the mechanism.
- Parameters:
new_average_request (VelocityDutyCycle) – Parameter to modify
- Returns:
Itself
- Return type:
- with_differential_request(new_differential_request: phoenix6.controls.velocity_duty_cycle.VelocityDutyCycle) Diff_VelocityDutyCycle_Velocity¶
Modifies this Control Request’s differential_request parameter and returns itself for method-chaining and easier to use request API.
Differential VelocityDutyCycle request of the mechanism.
- Parameters:
new_differential_request (VelocityDutyCycle) – Parameter to modify
- Returns:
Itself
- Return type:
- with_update_freq_hz(new_update_freq_hz: phoenix6.units.hertz) Diff_VelocityDutyCycle_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.
- Parameters:
new_update_freq_hz (hertz) – Parameter to modify
- Returns:
Itself
- Return type: