Diff_MotionMagicTorqueCurrentFOC_VelocityTorqueCurrentFOC Class

This feature requires Phoenix Pro.

Differential control with Motion Magic® average target and velocity difference target using torque current control.

Definition

Namespace: CTRE.Phoenix6.Controls.Compound
Assembly: Phoenix6 (in Phoenix6.dll) Version: 1.0.0
C#
public class Diff_MotionMagicTorqueCurrentFOC_VelocityTorqueCurrentFOC : ControlRequest
Inheritance
Object    ControlRequest    Diff_MotionMagicTorqueCurrentFOC_VelocityTorqueCurrentFOC

Constructors

Diff_MotionMagicTorqueCurrentFOC_VelocityTorqueCurrentFOC This feature requires Phoenix Pro.

Differential control with Motion Magic® average target and velocity difference target using torque current control. AverageRequest Average MotionMagicTorqueCurrentFOC request of the mechanism. DifferentialRequest Differential VelocityTorqueCurrentFOC request of the mechanism.

Properties

ConfigTimeout The timeout when sending configs associated with this control
ControlInfo Plain old data container holding name-value pairs of the control request parameters
(Inherited from ControlRequest)
UpdateFreqHz The period at which this control will update at. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

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.

Methods

EqualsDetermines whether the specified object is equal to the current object.
(Inherited from Object)
FinalizeAllows an object to try to free resources and perform other cleanup operations before it is reclaimed by garbage collection.
(Inherited from Object)
ForceApplyConfigs Forces configs to be applied the next time this is used in a setControl.

This is not necessary in the majority of cases, because Phoenix will make sure configs are properly set when they are not already set

GetHashCodeServes as the default hash function.
(Inherited from Object)
GetTypeGets the Type of the current instance.
(Inherited from Object)
MemberwiseCloneCreates a shallow copy of the current Object.
(Inherited from Object)
SendRequest Sends this request out over CAN bus to the device for the device to apply.
(Overrides ControlRequestSendRequest(String, UInt32, Boolean))
ToString Provides the string representation of this object
(Overrides ObjectToString)
WithUpdateFreqHz Sets the period at which this control will update at. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

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.

Fields

AverageRequest Average MotionMagicTorqueCurrentFOC request of the mechanism.
DifferentialRequest Differential VelocityTorqueCurrentFOC request of the mechanism.

See Also