13#include <units/angle.h>
14#include <units/angular_velocity.h>
15#include <units/voltage.h>
16#include <units/frequency.h>
17#include <units/time.h>
32 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
34 if (req.get() !=
this)
37 if (reqCast !=
nullptr)
43 req = std::make_shared<PositionVoltage>(*
this);
47 return c_ctre_phoenix6_RequestControlPositionVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
Position.to<
double>(),
Velocity.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
59 units::angular_velocity::turns_per_second_t
Velocity;
226 Slot = std::move(newSlot);
291 std::stringstream ss;
292 ss <<
"class: PositionVoltage" << std::endl;
293 ss <<
"Position: " <<
Position.to<
double>() << std::endl;
294 ss <<
"Velocity: " <<
Velocity.to<
double>() << std::endl;
295 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
296 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
297 ss <<
"Slot: " <<
Slot << std::endl;
311 std::map<std::string, std::string> controlInfo;
312 std::stringstream ss;
313 controlInfo[
"Name"] =
GetName();
314 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
315 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
316 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
317 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
318 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
320 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
321 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlPositionVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double Position, double Velocity, bool EnableFOC, double FeedForward, int Slot, bool OverrideBrakeDurNeutral, bool LimitForwardMotion, bool LimitReverseMotion)
Abstract Control Request class that other control requests extend for use.
Definition: ControlRequest.hpp:28
std::string const & GetName() const
Definition: ControlRequest.hpp:51
Request PID to target position with voltage feedforward.
Definition: PositionVoltage.hpp:31
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: PositionVoltage.hpp:112
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: PositionVoltage.hpp:70
PositionVoltage & WithVelocity(units::angular_velocity::turns_per_second_t newVelocity)
Modifies this Control Request's Velocity parameter and returns itself for method-chaining and easier ...
Definition: PositionVoltage.hpp:188
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: PositionVoltage.hpp:99
PositionVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: PositionVoltage.hpp:224
PositionVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: PositionVoltage.hpp:212
PositionVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: PositionVoltage.hpp:200
PositionVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: PositionVoltage.hpp:248
PositionVoltage(units::angle::turn_t Position, units::angular_velocity::turns_per_second_t Velocity=0.0_tps, bool EnableFOC=true, units::voltage::volt_t FeedForward=0.0_V, int Slot=0, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Request PID to target position with voltage feedforward.
Definition: PositionVoltage.hpp:159
std::string ToString() const override
Returns a string representation of the object.
Definition: PositionVoltage.hpp:289
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: PositionVoltage.hpp:54
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: PositionVoltage.hpp:309
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition: PositionVoltage.hpp:74
int Slot
Select which gains are applied by selecting the slot.
Definition: PositionVoltage.hpp:80
PositionVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: PositionVoltage.hpp:279
PositionVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: PositionVoltage.hpp:260
PositionVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: PositionVoltage.hpp:236
PositionVoltage & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: PositionVoltage.hpp:176
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: PositionVoltage.hpp:87
units::angular_velocity::turns_per_second_t Velocity
Velocity to drive toward in rotations per second.
Definition: PositionVoltage.hpp:59
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: PositionVoltage.hpp:93
Definition: RcManualEvent.hpp:12