public class DynamicMotionMagicTorqueCurrentFOC : ControlRequesttype DynamicMotionMagicTorqueCurrentFOC =
class
inherit ControlRequest
end| DynamicMotionMagicTorqueCurrentFOC | 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). |
| Acceleration | Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation. |
| 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) |
| FeedForward | Feedforward to apply in torque current in Amperes. User can use motor's kT to scale Newton-meter to Amperes. |
| Jerk | Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation. |
| 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). |
| Position | Position to drive toward in rotations. |
| 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]. |
| 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. |
| Velocity | Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. |
| Equals | Determines whether the specified object is equal to the current object. (Inherited from Object) |
| Finalize | Allows 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 |
| GetHashCode | Serves as the default hash function. (Inherited from Object) |
| GetType | Gets the Type of the current instance. (Inherited from Object) |
| MemberwiseClone | Creates 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. |