`phoenix6.controls.differential_motion_magic_expo_duty_cycle`¶

Module Contents¶

class phoenix6.controls.differential_motion_magic_expo_duty_cycle.DifferentialMotionMagicExpoDutyCycle(average_position: phoenix6.units.rotation, differential_position: phoenix6.units.rotation, enable_foc: bool = True, average_slot: int = 0, differential_slot: int = 1, override_brake_dur_neutral: bool = False, limit_forward_motion: bool = False, limit_reverse_motion: bool = False, ignore_hardware_limits: bool = False, ignore_software_limits: bool = False, use_timesync: bool = False)¶

Requests Motion Magic® to target a final position using an exponential motion profile, and PID to a differential position setpoint.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk 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:

average_position (rotation) – Average position to drive toward in rotations.
differential_position (rotation) – Differential position to drive toward in rotations.
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.
average_slot (int) – Select which gains are applied to the average controller 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].
differential_slot (int) – Select which gains are applied to the differential controller 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.
ignore_software_limits (bool) –
Set to true to ignore software limits, instead allowing motion.

This can be useful when calibrating the zero point of a mechanism such as an elevator.

The software limit faults will still report the values of the software limits 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 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_position¶

Average position to drive toward in rotations.

Units: rotations

differential_position¶

Differential position to drive toward in rotations.

Units: rotations

enable_foc = 'True'¶

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.

average_slot = '0'¶: Select which gains are applied to the average controller 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].

differential_slot = '1'¶: Select which gains are applied to the differential controller 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 = 'False'¶: 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 = 'False'¶: 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 = 'False'¶: 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 = 'False'¶

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.

ignore_software_limits = 'False'¶

Set to true to ignore software limits, instead allowing motion.

This can be useful when calibrating the zero point of a mechanism such as an elevator.

The software limit faults will still report the values of the software limits regardless of this parameter.

use_timesync = 'False'¶

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_average_position(new_average_position: phoenix6.units.rotation) → DifferentialMotionMagicExpoDutyCycle¶

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

Average position to drive toward in rotations.

Units: rotations

Parameters:: new_average_position (rotation) – Parameter to modify
Returns:: Itself
Return type:: DifferentialMotionMagicExpoDutyCycle

with_differential_position(new_differential_position: phoenix6.units.rotation) → DifferentialMotionMagicExpoDutyCycle¶

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

Differential position to drive toward in rotations.

Units: rotations

Parameters:: new_differential_position (rotation) – Parameter to modify
Returns:: Itself
Return type:: DifferentialMotionMagicExpoDutyCycle

with_enable_foc(new_enable_foc: bool) → DifferentialMotionMagicExpoDutyCycle¶

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.

Parameters:: new_enable_foc (bool) – Parameter to modify
Returns:: Itself
Return type:: DifferentialMotionMagicExpoDutyCycle

with_average_slot(new_average_slot: int) → DifferentialMotionMagicExpoDutyCycle¶

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

Select which gains are applied to the average controller 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_average_slot (int) – Parameter to modify
Returns:: Itself
Return type:: DifferentialMotionMagicExpoDutyCycle

with_differential_slot(new_differential_slot: int) → DifferentialMotionMagicExpoDutyCycle¶

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

Select which gains are applied to the differential controller 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_differential_slot (int) – Parameter to modify
Returns:: Itself
Return type:: DifferentialMotionMagicExpoDutyCycle

with_override_brake_dur_neutral(new_override_brake_dur_neutral: bool) → DifferentialMotionMagicExpoDutyCycle¶

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:: DifferentialMotionMagicExpoDutyCycle

with_limit_forward_motion(new_limit_forward_motion: bool) → DifferentialMotionMagicExpoDutyCycle¶

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:: DifferentialMotionMagicExpoDutyCycle

with_limit_reverse_motion(new_limit_reverse_motion: bool) → DifferentialMotionMagicExpoDutyCycle¶

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:: DifferentialMotionMagicExpoDutyCycle

with_ignore_hardware_limits(new_ignore_hardware_limits: bool) → DifferentialMotionMagicExpoDutyCycle¶

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:: DifferentialMotionMagicExpoDutyCycle

with_ignore_software_limits(new_ignore_software_limits: bool) → DifferentialMotionMagicExpoDutyCycle¶

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

Set to true to ignore software limits, instead allowing motion.

This can be useful when calibrating the zero point of a mechanism such as an elevator.

The software limit faults will still report the values of the software limits regardless of this parameter.

Parameters:: new_ignore_software_limits (bool) – Parameter to modify
Returns:: Itself
Return type:: DifferentialMotionMagicExpoDutyCycle

with_use_timesync(new_use_timesync: bool) → DifferentialMotionMagicExpoDutyCycle¶

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

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:: DifferentialMotionMagicExpoDutyCycle

with_update_freq_hz(new_update_freq_hz: phoenix6.units.hertz) → DifferentialMotionMagicExpoDutyCycle¶

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.

Parameters:: new_update_freq_hz (hertz) – Parameter to modify
Returns:: Itself
Return type:: DifferentialMotionMagicExpoDutyCycle

phoenix6.controls.differential_motion_magic_expo_duty_cycle¶

Module Contents¶

`phoenix6.controls.differential_motion_magic_expo_duty_cycle`¶