MATLAB File Help: FocCommandStruct
  FocCommandStruct is used to send commands to groups of modules.
    The struct created by this function is used to command FOC
    (Field Oriented Control) values on motor drivers.
    A FocCommandStruct only has to be initialized once, and the fields can
    be overwritten and reused multiple times in a loop.  When setting
    in a loop it is important to limit the loop rate using either a
    pause or a feedback request.
See also