phoenix6.controls.velocity_torque_current_foc#

Module Contents#

class phoenix6.controls.velocity_torque_current_foc.VelocityTorqueCurrentFOC(velocity: phoenix6.units.rotations_per_second, acceleration: phoenix6.units.rotations_per_second_squared = 0.0, 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)#

Requires Phoenix Pro; Request PID to target velocity with torque current feedforward.

This control mode will set the motor’s velocity setpoint to the velocity specified by the user. In addition, it will apply an additional torque current as an arbitrary feedforward value.

Parameters:
  • velocity (rotations_per_second) – Velocity to drive toward in rotations per second.

  • acceleration (rotations_per_second_squared) – Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.

  • 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.

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

velocity#

Velocity to drive toward in rotations per second.

acceleration#

Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.

feed_forward#

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

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.

with_velocity(new_velocity: phoenix6.units.rotations_per_second) VelocityTorqueCurrentFOC#

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

Parameters:

new_velocity (rotations_per_second) – Parameter to modify

Returns:

Itself

Return type:

VelocityTorqueCurrentFOC

with_acceleration(new_acceleration: phoenix6.units.rotations_per_second_squared) VelocityTorqueCurrentFOC#

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

Parameters:

new_acceleration (rotations_per_second_squared) – Parameter to modify

Returns:

Itself

Return type:

VelocityTorqueCurrentFOC

with_feed_forward(new_feed_forward: phoenix6.units.ampere) VelocityTorqueCurrentFOC#

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

Parameters:

new_feed_forward (ampere) – Parameter to modify

Returns:

Itself

Return type:

VelocityTorqueCurrentFOC

with_slot(new_slot: int) VelocityTorqueCurrentFOC#

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

Parameters:

new_slot (int) – Parameter to modify

Returns:

Itself

Return type:

VelocityTorqueCurrentFOC

with_override_coast_dur_neutral(new_override_coast_dur_neutral: bool) VelocityTorqueCurrentFOC#

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

Parameters:

new_override_coast_dur_neutral (bool) – Parameter to modify

Returns:

Itself

Return type:

VelocityTorqueCurrentFOC

with_limit_forward_motion(new_limit_forward_motion: bool) VelocityTorqueCurrentFOC#

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

Parameters:

new_limit_forward_motion (bool) – Parameter to modify

Returns:

Itself

Return type:

VelocityTorqueCurrentFOC

with_limit_reverse_motion(new_limit_reverse_motion: bool) VelocityTorqueCurrentFOC#

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

Parameters:

new_limit_reverse_motion (bool) – Parameter to modify

Returns:

Itself

Return type:

VelocityTorqueCurrentFOC

with_update_freq_hz(new_update_freq_hz: phoenix6.units.hertz) VelocityTorqueCurrentFOC#

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:

VelocityTorqueCurrentFOC