:py:mod:`phoenix6.controls.compound.diff_position_torque_current_foc_position` ============================================================================== .. py:module:: phoenix6.controls.compound.diff_position_torque_current_foc_position Module Contents --------------- .. py:class:: Diff_PositionTorqueCurrentFOC_Position(average_request: phoenix6.controls.position_torque_current_foc.PositionTorqueCurrentFOC, differential_request: phoenix6.controls.position_torque_current_foc.PositionTorqueCurrentFOC) Requires Phoenix Pro and CANivore; Differential control with position average target and position difference target using torque current control. :param AverageRequest: Average PositionTorqueCurrentFOC request of the mechanism. :param DifferentialRequest: Differential PositionTorqueCurrentFOC request of the mechanism. .. py:property:: name :type: str Gets the name of this control request. :returns: Name of the control request :rtype: str .. py:property:: control_info :type: dict Gets information about this control request. :returns: Dictonary of control parameter names and corresponding applied values :rtype: dict .. py:attribute:: update_freq_hz :type: phoenix6.units.hertz :value: 100.0 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. .. py:attribute:: average_request Average PositionTorqueCurrentFOC request of the mechanism. .. py:attribute:: differential_request Differential PositionTorqueCurrentFOC request of the mechanism. .. py:method:: with_average_request(new_average_request: phoenix6.controls.position_torque_current_foc.PositionTorqueCurrentFOC) -> Diff_PositionTorqueCurrentFOC_Position Modifies this Control Request's average_request parameter and returns itself for method-chaining and easier to use request API. Average PositionTorqueCurrentFOC request of the mechanism. :param new_average_request: Parameter to modify :type new_average_request: PositionTorqueCurrentFOC :returns: Itself :rtype: Diff_PositionTorqueCurrentFOC_Position .. py:method:: with_differential_request(new_differential_request: phoenix6.controls.position_torque_current_foc.PositionTorqueCurrentFOC) -> Diff_PositionTorqueCurrentFOC_Position Modifies this Control Request's differential_request parameter and returns itself for method-chaining and easier to use request API. Differential PositionTorqueCurrentFOC request of the mechanism. :param new_differential_request: Parameter to modify :type new_differential_request: PositionTorqueCurrentFOC :returns: Itself :rtype: Diff_PositionTorqueCurrentFOC_Position .. py:method:: with_update_freq_hz(new_update_freq_hz: phoenix6.units.hertz) -> Diff_PositionTorqueCurrentFOC_Position 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. :param new_update_freq_hz: Parameter to modify :type new_update_freq_hz: hertz :returns: Itself :rtype: Diff_PositionTorqueCurrentFOC_Position