phoenix6.controls.compound.diff_torque_current_foc_velocity

Module Contents

class phoenix6.controls.compound.diff_torque_current_foc_velocity.Diff_TorqueCurrentFOC_Velocity(average_request: phoenix6.controls.torque_current_foc.TorqueCurrentFOC, differential_request: phoenix6.controls.velocity_torque_current_foc.VelocityTorqueCurrentFOC)

Requires Phoenix Pro and CANivore; Differential control with torque current average target and velocity difference target.

Parameters:

• AverageRequest – Average TorqueCurrentFOC request of the mechanism.

• DifferentialRequest – Differential VelocityTorqueCurrentFOC request of the mechanism.

property name: str

Gets the name of this control request.

Returns:

Name of the control request

Return type:

str

property control_info: dict

Gets information about this control request.

Returns:

Dictonary of control parameter names and corresponding applied values

Return type:

dict

update_freq_hz: phoenix6.units.hertz = 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.

average_request

Average TorqueCurrentFOC request of the mechanism.

differential_request

Differential VelocityTorqueCurrentFOC request of the mechanism.

with_average_request(new_average_request: phoenix6.controls.torque_current_foc.TorqueCurrentFOC) → Diff_TorqueCurrentFOC_Velocity

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

Average TorqueCurrentFOC request of the mechanism.

Parameters:

new_average_request (TorqueCurrentFOC) – Parameter to modify

Returns:

Itself

Return type:

Diff_TorqueCurrentFOC_Velocity

with_differential_request(new_differential_request: phoenix6.controls.velocity_torque_current_foc.VelocityTorqueCurrentFOC) → Diff_TorqueCurrentFOC_Velocity

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

Differential VelocityTorqueCurrentFOC request of the mechanism.

Parameters:

new_differential_request (VelocityTorqueCurrentFOC) – Parameter to modify

Returns:

Itself

Return type:

Diff_TorqueCurrentFOC_Velocity

with_update_freq_hz(new_update_freq_hz: phoenix6.units.hertz) → Diff_TorqueCurrentFOC_Velocity

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.

Parameters:

new_update_freq_hz (hertz) – Parameter to modify

Returns:

Itself

Return type:

Diff_TorqueCurrentFOC_Velocity