phoenix6.controls.motion_magic_torque_current_foc

Module Contents

class phoenix6.controls.motion_magic_torque_current_foc.MotionMagicTorqueCurrentFOC(position: phoenix6.units.rotation, feed_forward: phoenix6.units.ampere = 0.0, slot: int = 0, override_coast_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; Requests Motion Magic® to target a final position using a motion profile. Users can optionally provide a torque current feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and (optional) Jerk 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 based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

Parameters:

  • position (rotation) – Position to drive toward in rotations.

  • feed_forward (ampere) – Feedforward to apply in torque current in Amperes. User can use motor’s kT to scale Newton-meter to Amperes.

  • 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_coast_dur_neutral (bool) – Set to true to coast 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 0A (zero torque).

  • 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

feed_forward

Feedforward to apply in torque current in Amperes. User can use motor’s kT to scale Newton-meter to Amperes.

  • Units: A

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_coast_dur_neutral

Set to true to coast 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 0A (zero torque).

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) → MotionMagicTorqueCurrentFOC

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:

MotionMagicTorqueCurrentFOC

with_feed_forward(new_feed_forward: phoenix6.units.ampere) → MotionMagicTorqueCurrentFOC

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

Feedforward to apply in torque current in Amperes. User can use motor’s kT to scale Newton-meter to Amperes.

  • Units: A

Parameters:

new_feed_forward (ampere) – Parameter to modify

Returns:

Itself

Return type:

MotionMagicTorqueCurrentFOC

with_slot(new_slot: int) → MotionMagicTorqueCurrentFOC

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:

MotionMagicTorqueCurrentFOC

with_override_coast_dur_neutral(new_override_coast_dur_neutral: bool) → MotionMagicTorqueCurrentFOC

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

Set to true to coast 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 0A (zero torque).

Parameters:

new_override_coast_dur_neutral (bool) – Parameter to modify

Returns:

Itself

Return type:

MotionMagicTorqueCurrentFOC

with_limit_forward_motion(new_limit_forward_motion: bool) → MotionMagicTorqueCurrentFOC

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:

MotionMagicTorqueCurrentFOC

with_limit_reverse_motion(new_limit_reverse_motion: bool) → MotionMagicTorqueCurrentFOC

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:

MotionMagicTorqueCurrentFOC

with_ignore_hardware_limits(new_ignore_hardware_limits: bool) → MotionMagicTorqueCurrentFOC

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:

MotionMagicTorqueCurrentFOC

with_use_timesync(new_use_timesync: bool) → MotionMagicTorqueCurrentFOC

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:

MotionMagicTorqueCurrentFOC

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

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:

MotionMagicTorqueCurrentFOC