phoenix6.controls.compound.diff_velocity_duty_cycle_position¶
Module Contents¶
- class phoenix6.controls.compound.diff_velocity_duty_cycle_position.Diff_VelocityDutyCycle_Position(average_request: phoenix6.controls.velocity_duty_cycle.VelocityDutyCycle, differential_request: phoenix6.controls.position_duty_cycle.PositionDutyCycle)¶
Requires Phoenix Pro and CANivore; Differential control with velocity average target and position difference target using dutycycle control.
- Parameters:
AverageRequest – Average VelocityDutyCYcle request of the mechanism.
DifferentialRequest – Differential PositionDutyCycle 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 VelocityDutyCYcle request of the mechanism.
- differential_request¶
Differential PositionDutyCycle request of the mechanism.
- with_average_request(new_average_request: phoenix6.controls.velocity_duty_cycle.VelocityDutyCycle) Diff_VelocityDutyCycle_Position¶
Modifies this Control Request’s average_request parameter and returns itself for method-chaining and easier to use request API.
Average VelocityDutyCYcle request of the mechanism.
- Parameters:
new_average_request (VelocityDutyCycle) – Parameter to modify
- Returns:
Itself
- Return type:
- with_differential_request(new_differential_request: phoenix6.controls.position_duty_cycle.PositionDutyCycle) Diff_VelocityDutyCycle_Position¶
Modifies this Control Request’s differential_request parameter and returns itself for method-chaining and easier to use request API.
Differential PositionDutyCycle request of the mechanism.
- Parameters:
new_differential_request (PositionDutyCycle) – Parameter to modify
- Returns:
Itself
- Return type:
- with_update_freq_hz(new_update_freq_hz: phoenix6.units.hertz) Diff_VelocityDutyCycle_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.
- Parameters:
new_update_freq_hz (hertz) – Parameter to modify
- Returns:
Itself
- Return type: