13#include <units/angular_velocity.h>
14#include <units/angular_acceleration.h>
15#include <units/dimensionless.h>
16#include <units/frequency.h>
17#include <units/time.h>
40 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
42 if (req.get() !=
this)
45 if (reqCast !=
nullptr)
51 req = std::make_shared<MotionMagicVelocityDutyCycle>(*
this);
55 return c_ctre_phoenix6_RequestControlMotionMagicVelocityDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
Velocity.to<
double>(),
Acceleration.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
63 units::angular_velocity::turns_per_second_t
Velocity;
70 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
254 Slot = std::move(newSlot);
319 std::stringstream ss;
320 ss <<
"class: MotionMagicVelocityDutyCycle" << std::endl;
321 ss <<
"Velocity: " <<
Velocity.to<
double>() << std::endl;
322 ss <<
"Acceleration: " <<
Acceleration.to<
double>() << std::endl;
323 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
324 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
325 ss <<
"Slot: " <<
Slot << std::endl;
339 std::map<std::string, std::string> controlInfo;
340 std::stringstream ss;
341 controlInfo[
"Name"] =
GetName();
342 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
343 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
344 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
345 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
346 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
348 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
349 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicVelocityDutyCycle(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double Velocity, double Acceleration, 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
Requests Motion Magic® to target a final velocity using a motion profile.
Definition: MotionMagicVelocityDutyCycle.hpp:39
MotionMagicVelocityDutyCycle(units::angular_velocity::turns_per_second_t Velocity, units::angular_acceleration::turns_per_second_squared_t Acceleration=0.0_tr_per_s_sq, bool EnableFOC=true, units::dimensionless::scalar_t FeedForward=0.0, int Slot=0, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Requests Motion Magic® to target a final velocity using a motion profile.
Definition: MotionMagicVelocityDutyCycle.hpp:187
units::dimensionless::scalar_t FeedForward
Feedforward to apply in fractional units between -1 and +1.
Definition: MotionMagicVelocityDutyCycle.hpp:85
MotionMagicVelocityDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVelocityDutyCycle.hpp:276
MotionMagicVelocityDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicVelocityDutyCycle.hpp:264
MotionMagicVelocityDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicVelocityDutyCycle.hpp:307
MotionMagicVelocityDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: MotionMagicVelocityDutyCycle.hpp:228
MotionMagicVelocityDutyCycle & WithAcceleration(units::angular_acceleration::turns_per_second_squared_t newAcceleration)
Modifies this Control Request's Acceleration parameter and returns itself for method-chaining and eas...
Definition: MotionMagicVelocityDutyCycle.hpp:216
MotionMagicVelocityDutyCycle & WithFeedForward(units::dimensionless::scalar_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicVelocityDutyCycle.hpp:240
units::angular_velocity::turns_per_second_t Velocity
Target velocity to drive toward in rotations per second.
Definition: MotionMagicVelocityDutyCycle.hpp:63
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicVelocityDutyCycle.hpp:110
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicVelocityDutyCycle.hpp:317
MotionMagicVelocityDutyCycle & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicVelocityDutyCycle.hpp:252
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicVelocityDutyCycle.hpp:91
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicVelocityDutyCycle.hpp:123
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: MotionMagicVelocityDutyCycle.hpp:81
units::angular_acceleration::turns_per_second_squared_t Acceleration
This is the absolute Acceleration to use generating the profile.
Definition: MotionMagicVelocityDutyCycle.hpp:70
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: MotionMagicVelocityDutyCycle.hpp:98
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: MotionMagicVelocityDutyCycle.hpp:337
MotionMagicVelocityDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVelocityDutyCycle.hpp:288
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicVelocityDutyCycle.hpp:104
MotionMagicVelocityDutyCycle & 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: MotionMagicVelocityDutyCycle.hpp:204
Definition: RcManualEvent.hpp:12