Why Phoenix Pro?#
Phoenix Pro currently offers the following features and will further expand.
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.
~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#
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.
Improved CAN FD framing further reduces any CAN bus utilization issues.
Larger CAN frames allow for the addition of more advanced features.
Detailed and resolute self tests to improve debugging.
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!