:py:mod:`phoenix6.controls.compound.diff_voltage_out_position`
==============================================================

.. py:module:: phoenix6.controls.compound.diff_voltage_out_position

Module Contents
---------------


.. py:class:: Diff_VoltageOut_Position(average_request: phoenix6.controls.voltage_out.VoltageOut, differential_request: phoenix6.controls.position_voltage.PositionVoltage)


   Requires Phoenix Pro and CANivore;
   Differential control with voltage average target and position difference target.

   :param AverageRequest:    Average VoltageOut request of the mechanism.
   :param DifferentialRequest:    Differential PositionVoltage 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

      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 VoltageOut request of the mechanism.


   .. py:attribute:: differential_request

      Differential PositionVoltage request of the mechanism.


   .. py:method:: with_average_request(new_average_request: phoenix6.controls.voltage_out.VoltageOut) -> Diff_VoltageOut_Position

      Modifies this Control Request's average_request parameter and returns itself for
      method-chaining and easier to use request API.

      Average VoltageOut request of the mechanism.

      :param new_average_request: Parameter to modify
      :type new_average_request: VoltageOut
      :returns: Itself
      :rtype: Diff_VoltageOut_Position


   .. py:method:: with_differential_request(new_differential_request: phoenix6.controls.position_voltage.PositionVoltage) -> Diff_VoltageOut_Position

      Modifies this Control Request's differential_request parameter and returns itself for
      method-chaining and easier to use request API.

      Differential PositionVoltage request of the mechanism.

      :param new_differential_request: Parameter to modify
      :type new_differential_request: PositionVoltage
      :returns: Itself
      :rtype: Diff_VoltageOut_Position


   .. py:method:: with_update_freq_hz(new_update_freq_hz: phoenix6.units.hertz) -> Diff_VoltageOut_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_VoltageOut_Position