13#include <units/angle.h>
14#include <units/angular_velocity.h>
15#include <units/dimensionless.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<PositionDutyCycle>(*
this);
47 return c_ctre_phoenix6_RequestControlPositionDutyCycle(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;
227 Slot = std::move(newSlot);
292 std::stringstream ss;
293 ss <<
"class: PositionDutyCycle" << std::endl;
294 ss <<
"Position: " <<
Position.to<
double>() << std::endl;
295 ss <<
"Velocity: " <<
Velocity.to<
double>() << std::endl;
296 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
297 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
298 ss <<
"Slot: " <<
Slot << std::endl;
312 std::map<std::string, std::string> controlInfo;
313 std::stringstream ss;
314 controlInfo[
"Name"] =
GetName();
315 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
316 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
317 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
318 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
319 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
321 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
322 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlPositionDutyCycle(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 duty cycle feedforward.
Definition: PositionDutyCycle.hpp:31
PositionDutyCycle & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: PositionDutyCycle.hpp:225
units::dimensionless::scalar_t FeedForward
Feedforward to apply in fractional units between -1 and +1.
Definition: PositionDutyCycle.hpp:74
PositionDutyCycle & 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: PositionDutyCycle.hpp:189
PositionDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: PositionDutyCycle.hpp:201
units::angular_velocity::turns_per_second_t Velocity
Velocity to drive toward in rotations per second.
Definition: PositionDutyCycle.hpp:59
PositionDutyCycle & WithFeedForward(units::dimensionless::scalar_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: PositionDutyCycle.hpp:213
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: PositionDutyCycle.hpp:70
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: PositionDutyCycle.hpp:54
PositionDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: PositionDutyCycle.hpp:261
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: PositionDutyCycle.hpp:93
int Slot
Select which gains are applied by selecting the slot.
Definition: PositionDutyCycle.hpp:80
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: PositionDutyCycle.hpp:310
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: PositionDutyCycle.hpp:87
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: PositionDutyCycle.hpp:112
PositionDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: PositionDutyCycle.hpp:280
PositionDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: PositionDutyCycle.hpp:249
PositionDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: PositionDutyCycle.hpp:237
PositionDutyCycle & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: PositionDutyCycle.hpp:177
std::string ToString() const override
Returns a string representation of the object.
Definition: PositionDutyCycle.hpp:290
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: PositionDutyCycle.hpp:99
PositionDutyCycle(units::angle::turn_t Position, units::angular_velocity::turns_per_second_t Velocity=0.0_tps, bool EnableFOC=true, units::dimensionless::scalar_t FeedForward=0.0, int Slot=0, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Request PID to target position with duty cycle feedforward.
Definition: PositionDutyCycle.hpp:160
Definition: RcManualEvent.hpp:12