:py:mod:`phoenix6.hardware.traits.supports_foc`
===============================================

.. py:module:: phoenix6.hardware.traits.supports_foc

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


.. py:class:: SupportsFOC


   Requires Phoenix Pro; Contains all FOC-exclusive control functions available for
   devices that support FOC.

   .. py:method:: set_control(request: phoenix6.controls.torque_current_foc.TorqueCurrentFOC) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.position_torque_current_foc.PositionTorqueCurrentFOC) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.velocity_torque_current_foc.VelocityTorqueCurrentFOC) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.motion_magic_torque_current_foc.MotionMagicTorqueCurrentFOC) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.motion_magic_velocity_torque_current_foc.MotionMagicVelocityTorqueCurrentFOC) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.motion_magic_expo_torque_current_foc.MotionMagicExpoTorqueCurrentFOC) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.dynamic_motion_magic_torque_current_foc.DynamicMotionMagicTorqueCurrentFOC) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_torque_current_foc_position.Diff_TorqueCurrentFOC_Position) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_position_torque_current_foc_position.Diff_PositionTorqueCurrentFOC_Position) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_velocity_torque_current_foc_position.Diff_VelocityTorqueCurrentFOC_Position) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_motion_magic_torque_current_foc_position.Diff_MotionMagicTorqueCurrentFOC_Position) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_torque_current_foc_velocity.Diff_TorqueCurrentFOC_Velocity) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_position_torque_current_foc_velocity.Diff_PositionTorqueCurrentFOC_Velocity) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_velocity_torque_current_foc_velocity.Diff_VelocityTorqueCurrentFOC_Velocity) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_motion_magic_torque_current_foc_velocity.Diff_MotionMagicTorqueCurrentFOC_Velocity) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.hardware.parent_device.SupportsSendRequest) -> phoenix6.status_code.StatusCode