`phoenix6.controls.differential_motion_magic_duty_cycle`#

Module Contents#

class phoenix6.controls.differential_motion_magic_duty_cycle.DifferentialMotionMagicDutyCycle(target_position: phoenix6.units.rotation, differential_position: phoenix6.units.rotation, enable_foc: bool = True, target_slot: int = 0, differential_slot: int = 1, override_brake_dur_neutral: bool = False, limit_forward_motion: bool = False, limit_reverse_motion: bool = False)#

Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and Jerk value specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

Parameters:

target_position (rotation) – Average position to drive toward in rotations.
differential_position (rotation) – Differential position to drive toward in rotations.
enable_foc (bool) –
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.

FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.
target_slot (int) – Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
differential_slot (int) – Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
override_brake_dur_neutral (bool) – Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
limit_forward_motion (bool) – Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
limit_reverse_motion (bool) – Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

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

target_position#: Average position to drive toward in rotations.

differential_position#: Differential position to drive toward in rotations.

enable_foc#

Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.

FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

target_slot#: Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].

differential_slot#: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].

override_brake_dur_neutral#: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.

limit_forward_motion#: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

limit_reverse_motion#: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

with_target_position(new_target_position: phoenix6.units.rotation) → DifferentialMotionMagicDutyCycle#

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

Average position to drive toward in rotations.

Parameters:: new_target_position (rotation) – Parameter to modify
Returns:: Itself
Return type:: DifferentialMotionMagicDutyCycle

with_differential_position(new_differential_position: phoenix6.units.rotation) → DifferentialMotionMagicDutyCycle#

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

Differential position to drive toward in rotations.

Parameters:: new_differential_position (rotation) – Parameter to modify
Returns:: Itself
Return type:: DifferentialMotionMagicDutyCycle

with_enable_foc(new_enable_foc: bool) → DifferentialMotionMagicDutyCycle#

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

Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%. Set to false to use trapezoidal commutation.

Parameters:: new_enable_foc (bool) – Parameter to modify
Returns:: Itself
Return type:: DifferentialMotionMagicDutyCycle

with_target_slot(new_target_slot: int) → DifferentialMotionMagicDutyCycle#

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

Select which gains are applied to the primary controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].

Parameters:: new_target_slot (int) – Parameter to modify
Returns:: Itself
Return type:: DifferentialMotionMagicDutyCycle

with_differential_slot(new_differential_slot: int) → DifferentialMotionMagicDutyCycle#

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

Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].

Parameters:: new_differential_slot (int) – Parameter to modify
Returns:: Itself
Return type:: DifferentialMotionMagicDutyCycle

with_override_brake_dur_neutral(new_override_brake_dur_neutral: bool) → DifferentialMotionMagicDutyCycle#

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

Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.

Parameters:: new_override_brake_dur_neutral (bool) – Parameter to modify
Returns:: Itself
Return type:: DifferentialMotionMagicDutyCycle

with_limit_forward_motion(new_limit_forward_motion: bool) → DifferentialMotionMagicDutyCycle#

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

Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters:: new_limit_forward_motion (bool) – Parameter to modify
Returns:: Itself
Return type:: DifferentialMotionMagicDutyCycle

with_limit_reverse_motion(new_limit_reverse_motion: bool) → DifferentialMotionMagicDutyCycle#

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

Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters:: new_limit_reverse_motion (bool) – Parameter to modify
Returns:: Itself
Return type:: DifferentialMotionMagicDutyCycle

with_update_freq_hz(new_update_freq_hz: phoenix6.units.hertz) → DifferentialMotionMagicDutyCycle#

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:: DifferentialMotionMagicDutyCycle

phoenix6.controls.differential_motion_magic_duty_cycle#

Module Contents#

`phoenix6.controls.differential_motion_magic_duty_cycle`#