:py:mod:`phoenix6.hardware.traits.supports_foc`
===============================================

.. py:module:: phoenix6.hardware.traits.supports_foc

Module Contents
---------------


.. py:class:: SupportsFOC


   Bases: :py:obj:`phoenix6.hardware.traits.common_device.CommonDevice`

   Requires Phoenix Pro; Contains all FOC-exclusive control functions available for
   devices that support FOC.

   .. py:method:: get_fault_rotor_fault1(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Trips if a major mechanical or ESD event caused a brief loss of
      position data triggering a recovery while not in motion. If the event
      occurs often, inspect for excess axial force or sources of ESD at the
      rotor.

      - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it;
                      defaults to true
      :type refresh: bool
      :returns: Fault_RotorFault1 Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_sticky_fault_rotor_fault1(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Trips if a major mechanical or ESD event caused a brief loss of
      position data triggering a recovery while not in motion. If the event
      occurs often, inspect for excess axial force or sources of ESD at the
      rotor.

      - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it;
                      defaults to true
      :type refresh: bool
      :returns: StickyFault_RotorFault1 Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_fault_rotor_fault2(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Trips if a major mechanical or ESD event caused a brief loss of
      position data triggering a recovery while in motion. If the event
      occurs often, inspect for excess axial force or sources of ESD at the
      rotor.

      - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it;
                      defaults to true
      :type refresh: bool
      :returns: Fault_RotorFault2 Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_sticky_fault_rotor_fault2(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Trips if a major mechanical or ESD event caused a brief loss of
      position data triggering a recovery while in motion. If the event
      occurs often, inspect for excess axial force or sources of ESD at the
      rotor.

      - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it;
                      defaults to true
      :type refresh: bool
      :returns: StickyFault_RotorFault2 Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: set_control(request: phoenix6.controls.torque_current_foc.TorqueCurrentFOC) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.position_torque_current_foc.PositionTorqueCurrentFOC) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.velocity_torque_current_foc.VelocityTorqueCurrentFOC) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.motion_magic_torque_current_foc.MotionMagicTorqueCurrentFOC) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.motion_magic_velocity_torque_current_foc.MotionMagicVelocityTorqueCurrentFOC) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.motion_magic_expo_torque_current_foc.MotionMagicExpoTorqueCurrentFOC) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.dynamic_motion_magic_torque_current_foc.DynamicMotionMagicTorqueCurrentFOC) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.dynamic_motion_magic_expo_torque_current_foc.DynamicMotionMagicExpoTorqueCurrentFOC) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_torque_current_foc_position.Diff_TorqueCurrentFOC_Position) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_position_torque_current_foc_position.Diff_PositionTorqueCurrentFOC_Position) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_velocity_torque_current_foc_position.Diff_VelocityTorqueCurrentFOC_Position) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_motion_magic_torque_current_foc_position.Diff_MotionMagicTorqueCurrentFOC_Position) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_torque_current_foc_position.Diff_MotionMagicExpoTorqueCurrentFOC_Position) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_torque_current_foc_position.Diff_MotionMagicVelocityTorqueCurrentFOC_Position) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_torque_current_foc_velocity.Diff_TorqueCurrentFOC_Velocity) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_position_torque_current_foc_velocity.Diff_PositionTorqueCurrentFOC_Velocity) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_velocity_torque_current_foc_velocity.Diff_VelocityTorqueCurrentFOC_Velocity) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_motion_magic_torque_current_foc_velocity.Diff_MotionMagicTorqueCurrentFOC_Velocity) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_torque_current_foc_velocity.Diff_MotionMagicExpoTorqueCurrentFOC_Velocity) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_torque_current_foc_velocity.Diff_MotionMagicVelocityTorqueCurrentFOC_Velocity) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_torque_current_foc_open.Diff_TorqueCurrentFOC_Open) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_position_torque_current_foc_open.Diff_PositionTorqueCurrentFOC_Open) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_velocity_torque_current_foc_open.Diff_VelocityTorqueCurrentFOC_Open) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_motion_magic_torque_current_foc_open.Diff_MotionMagicTorqueCurrentFOC_Open) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_torque_current_foc_open.Diff_MotionMagicExpoTorqueCurrentFOC_Open) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_torque_current_foc_open.Diff_MotionMagicVelocityTorqueCurrentFOC_Open) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.controls.empty_control.EmptyControl) -> phoenix6.status_code.StatusCode
                  set_control(request: phoenix6.hardware.parent_device.SupportsSendRequest) -> phoenix6.status_code.StatusCode


   .. py:method:: clear_sticky_fault_rotor_fault1(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode

      Clear sticky fault: Trips if a major mechanical or ESD event caused a
      brief loss of position data triggering a recovery while not in motion.
      If the event occurs often, inspect for excess axial force or sources
      of ESD at the rotor.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: clear_sticky_fault_rotor_fault2(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode

      Clear sticky fault: Trips if a major mechanical or ESD event caused a
      brief loss of position data triggering a recovery while in motion. If
      the event occurs often, inspect for excess axial force or sources of
      ESD at the rotor.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode