DynamicMotionMagicTorqueCurrentFOC Constructor

This feature requires Phoenix Pro and 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 torque current 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 based on torque current, so relevant closed-loop gains will use Amperes for the numerator. 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. FeedForward Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes. 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]. OverrideCoastDurNeutral 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).

public DynamicMotionMagicTorqueCurrentFOC(
	double Position,
	double Velocity,
	double Acceleration,
	double Jerk,
	double FeedForward,
	int Slot,
	bool OverrideCoastDurNeutral
)

new : 
        Position : float * 
        Velocity : float * 
        Acceleration : float * 
        Jerk : float * 
        FeedForward : float * 
        Slot : int * 
        OverrideCoastDurNeutral : bool -> DynamicMotionMagicTorqueCurrentFOC