phoenix6.controls.dynamic_motion_magic_duty_cycle

Module Contents

class phoenix6.controls.dynamic_motion_magic_duty_cycle.DynamicMotionMagicDutyCycle(position: phoenix6.units.rotation, velocity: phoenix6.units.rotations_per_second, acceleration: phoenix6.units.rotations_per_second_squared, jerk: phoenix6.units.rotations_per_second_cubed, enable_foc: bool = True, feed_forward: float = 0.0, slot: int = 0, override_brake_dur_neutral: bool = False, limit_forward_motion: bool = False, limit_reverse_motion: bool = False, ignore_hardware_limits: bool = False, use_timesync: bool = False)

Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a duty cycle feedforward. This control requires use of a CANivore.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and (optional) Jerk. 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:
  • position (rotation) – Position to drive toward in rotations.

  • velocity (rotations_per_second) – Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.

  • acceleration (rotations_per_second_squared) – Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation

  • jerk (rotations_per_second_cubed) –

    Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.

    Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.

  • enable_foc (bool) –

    Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). 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.

  • feed_forward (float) – Feedforward to apply in fractional units between -1 and +1.

  • slot (int) – Select which gains are applied 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.

  • ignore_hardware_limits (bool) –

    Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • use_timesync (bool) –

    Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

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

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.

position

Position to drive toward in rotations.

  • Units: rotations

velocity

Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.

  • Units: rotations per second

acceleration

Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation

  • Units: rotations per second²

jerk

Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.

Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.

  • Units: rotations per second³

enable_foc

Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see SupportsFOC). 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.

feed_forward

Feedforward to apply in fractional units between -1 and +1.

  • Units: fractional

slot

Select which gains are applied 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.

ignore_hardware_limits

Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

use_timesync

Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

with_position(new_position: phoenix6.units.rotation) DynamicMotionMagicDutyCycle

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

Position to drive toward in rotations.

  • Units: rotations

Parameters:

new_position (rotation) – Parameter to modify

Returns:

Itself

Return type:

DynamicMotionMagicDutyCycle

with_velocity(new_velocity: phoenix6.units.rotations_per_second) DynamicMotionMagicDutyCycle

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

Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.

  • Units: rotations per second

Parameters:

new_velocity (rotations_per_second) – Parameter to modify

Returns:

Itself

Return type:

DynamicMotionMagicDutyCycle

with_acceleration(new_acceleration: phoenix6.units.rotations_per_second_squared) DynamicMotionMagicDutyCycle

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

Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation

  • Units: rotations per second²

Parameters:

new_acceleration (rotations_per_second_squared) – Parameter to modify

Returns:

Itself

Return type:

DynamicMotionMagicDutyCycle

with_jerk(new_jerk: phoenix6.units.rotations_per_second_cubed) DynamicMotionMagicDutyCycle

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

Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.

Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.

  • Units: rotations per second³

Parameters:

new_jerk (rotations_per_second_cubed) – Parameter to modify

Returns:

Itself

Return type:

DynamicMotionMagicDutyCycle

with_enable_foc(new_enable_foc: bool) DynamicMotionMagicDutyCycle

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% on supported devices (see SupportsFOC). 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.

Parameters:

new_enable_foc (bool) – Parameter to modify

Returns:

Itself

Return type:

DynamicMotionMagicDutyCycle

with_feed_forward(new_feed_forward: float) DynamicMotionMagicDutyCycle

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

Feedforward to apply in fractional units between -1 and +1.

  • Units: fractional

Parameters:

new_feed_forward (float) – Parameter to modify

Returns:

Itself

Return type:

DynamicMotionMagicDutyCycle

with_slot(new_slot: int) DynamicMotionMagicDutyCycle

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

Select which gains are applied 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_slot (int) – Parameter to modify

Returns:

Itself

Return type:

DynamicMotionMagicDutyCycle

with_override_brake_dur_neutral(new_override_brake_dur_neutral: bool) DynamicMotionMagicDutyCycle

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:

DynamicMotionMagicDutyCycle

with_limit_forward_motion(new_limit_forward_motion: bool) DynamicMotionMagicDutyCycle

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:

DynamicMotionMagicDutyCycle

with_limit_reverse_motion(new_limit_reverse_motion: bool) DynamicMotionMagicDutyCycle

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:

DynamicMotionMagicDutyCycle

with_ignore_hardware_limits(new_ignore_hardware_limits: bool) DynamicMotionMagicDutyCycle

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

Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

Parameters:

new_ignore_hardware_limits (bool) – Parameter to modify

Returns:

Itself

Return type:

DynamicMotionMagicDutyCycle

with_use_timesync(new_use_timesync: bool) DynamicMotionMagicDutyCycle

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

Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters:

new_use_timesync (bool) – Parameter to modify

Returns:

Itself

Return type:

DynamicMotionMagicDutyCycle

with_update_freq_hz(new_update_freq_hz: phoenix6.units.hertz) DynamicMotionMagicDutyCycle

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:

DynamicMotionMagicDutyCycle