phoenix6.controls.compound.diff_torque_current_foc_open

Module Contents

class phoenix6.controls.compound.diff_torque_current_foc_open.Diff_TorqueCurrentFOC_Open(average_request: phoenix6.controls.torque_current_foc.TorqueCurrentFOC, differential_request: phoenix6.controls.torque_current_foc.TorqueCurrentFOC)

Requires Phoenix Pro and CANivore; Differential control with torque current average target and torque current difference target.

Parameters:

• average_request (TorqueCurrentFOC) – Average TorqueCurrentFOC request of the mechanism.

• differential_request (TorqueCurrentFOC) – Differential TorqueCurrentFOC request of the mechanism.

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 frequency at which this control will update. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

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.

average_request

Average TorqueCurrentFOC request of the mechanism.

differential_request

Differential TorqueCurrentFOC request of the mechanism.

with_average_request(new_average_request: phoenix6.controls.torque_current_foc.TorqueCurrentFOC) → Diff_TorqueCurrentFOC_Open

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

Average TorqueCurrentFOC request of the mechanism.

Parameters:

new_average_request (TorqueCurrentFOC) – Parameter to modify

Returns:

Itself

Return type:

Diff_TorqueCurrentFOC_Open

with_differential_request(new_differential_request: phoenix6.controls.torque_current_foc.TorqueCurrentFOC) → Diff_TorqueCurrentFOC_Open

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

Differential TorqueCurrentFOC request of the mechanism.

Parameters:

new_differential_request (TorqueCurrentFOC) – Parameter to modify

Returns:

Itself

Return type:

Diff_TorqueCurrentFOC_Open

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

Sets the frequency at which this control will update. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

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:

Diff_TorqueCurrentFOC_Open