DynamicMotionMagicDutyCycle Constructor

This feature requires CANivore.

Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a duty cycle feedforward. This control requires use of a CANivore.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and Jerk value. 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. Position Position to drive toward in rotations. Velocity Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Acceleration Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation Jerk Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation 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. FeedForward Feedforward to apply in fractional units between -1 and +1. 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]. 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 DynamicMotionMagicDutyCycle(
	double Position,
	double Velocity,
	double Acceleration,
	double Jerk,
	bool EnableFOC,
	double FeedForward,
	int Slot,
	bool OverrideBrakeDurNeutral
)

new : 
        Position : float * 
        Velocity : float * 
        Acceleration : float * 
        Jerk : float * 
        EnableFOC : bool * 
        FeedForward : float * 
        Slot : int * 
        OverrideBrakeDurNeutral : bool -> DynamicMotionMagicDutyCycle