DifferentialMotionMagicDutyCycle Constructor

Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output. TargetPosition Average position to drive toward in rotations. DifferentialPosition Differential position to drive toward in rotations. EnableFOC Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. 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. TargetSlot Select which gains are applied to the primary controller 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]. DifferentialSlot Select which gains are applied to the differential controller 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]. OverrideBrakeDurNeutral 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.

public DifferentialMotionMagicDutyCycle(
	double TargetPosition,
	double DifferentialPosition,
	bool EnableFOC,
	int TargetSlot,
	int DifferentialSlot,
	bool OverrideBrakeDurNeutral
)

new : 
        TargetPosition : float * 
        DifferentialPosition : float * 
        EnableFOC : bool * 
        TargetSlot : int * 
        DifferentialSlot : int * 
        OverrideBrakeDurNeutral : bool -> DifferentialMotionMagicDutyCycle