Why Phoenix Pro?#
Phoenix Pro currently offers the following features and will further expand.
Comprehensive API#
Device signal getters return a StatusSignalValue object, expanding the functionality of status signals.
Control devices with an extensive list of flexible, strongly-typed control request objects.
Canonical Units#
Uses the popular Units library for C++ and standardizes on SI units.
Signals are documented with the unit type and the minimum and maximum values.
Time Base Synchronization#
Using CANivore Timesync, signals from all devices are sampled and published to the CAN bus at the same time.
API can synchronously wait for data from multiple devices on a CANivore to arrive.
Field Oriented Control (FOC)#
~15% increase in peak power.
Increased torque output; faster acceleration and higher speeds under load.
Greater efficiency; the motor draws less current for the same output power, increasing battery life.
Support for direct torque control.
Improved Device Control#
New and improved control output types and closed-loop configuration.
Improved Motion Magic® with jerk control and support for modifying the profile on the fly.
Kalman-based algorithms to reduce latency while maintaining smooth data.
Fuse a CANcoder with the motor’s internal rotor, getting absolute data all the time while using the fast internal sensor for closed looping.
Enhanced Support for CAN FD#
Improved CAN FD framing further reduces any CAN bus utilization issues.
Larger CAN frames allow for the addition of more advanced features.
New Tuner X Self Tests#
Detailed and resolute self tests to improve debugging.
Free High-Fidelity Simulation#
Simulation closely follows the behavior of real hardware.
Write unit-tests for your robot code, and make sure the robot works before deploying.
Try Phoenix Pro before you buy!