15#include <units/frequency.h>
16#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)
36 auto const reqCast =
dynamic_cast<Diff_VelocityDutyCycle_Position *
>(req.get());
37 if (reqCast !=
nullptr)
43 req = std::make_shared<Diff_VelocityDutyCycle_Position>(*
this);
47 return c_ctre_phoenix6_RequestControlDiff_VelocityDutyCycle_Position(network, deviceHash, UpdateFreqHz.to<
double>(), cancelOtherRequests, AverageRequest.Velocity.to<
double>(), AverageRequest.Acceleration.to<
double>(), AverageRequest.EnableFOC, AverageRequest.FeedForward.to<
double>(), AverageRequest.Slot, AverageRequest.OverrideBrakeDurNeutral, AverageRequest.LimitForwardMotion, AverageRequest.LimitReverseMotion, DifferentialRequest.Position.to<
double>(), DifferentialRequest.Velocity.to<
double>(), DifferentialRequest.EnableFOC, DifferentialRequest.FeedForward.to<
double>(), DifferentialRequest.Slot, DifferentialRequest.OverrideBrakeDurNeutral, DifferentialRequest.LimitForwardMotion, DifferentialRequest.LimitReverseMotion);
71 units::frequency::hertz_t UpdateFreqHz{100_Hz};
83 AverageRequest{std::move(AverageRequest)},
84 DifferentialRequest{std::move(DifferentialRequest)}
93 Diff_VelocityDutyCycle_Position& WithAverageRequest(
VelocityDutyCycle newAverageRequest)
95 AverageRequest = std::move(newAverageRequest);
105 Diff_VelocityDutyCycle_Position& WithDifferentialRequest(
PositionDutyCycle newDifferentialRequest)
107 DifferentialRequest = std::move(newDifferentialRequest);
124 Diff_VelocityDutyCycle_Position &WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
126 UpdateFreqHz = newUpdateFreqHz;
134 std::string ToString()
const override
136 std::stringstream ss;
137 ss <<
"class: Diff_VelocityDutyCycle_Position" << std::endl;
138 ss <<
"AverageRequest:" << std::endl;
139 ss <<
" Velocity: " << AverageRequest.
Velocity.to<
double>() << std::endl;
140 ss <<
" Acceleration: " << AverageRequest.
Acceleration.to<
double>() << std::endl;
141 ss <<
" EnableFOC: " << AverageRequest.
EnableFOC << std::endl;
142 ss <<
" FeedForward: " << AverageRequest.
FeedForward.to<
double>() << std::endl;
143 ss <<
" Slot: " << AverageRequest.
Slot << std::endl;
147 ss <<
"DifferentialRequest:" << std::endl;
148 ss <<
" Position: " << DifferentialRequest.
Position.to<
double>() << std::endl;
149 ss <<
" Velocity: " << DifferentialRequest.
Velocity.to<
double>() << std::endl;
150 ss <<
" EnableFOC: " << DifferentialRequest.
EnableFOC << std::endl;
151 ss <<
" FeedForward: " << DifferentialRequest.
FeedForward.to<
double>() << std::endl;
152 ss <<
" Slot: " << DifferentialRequest.
Slot << std::endl;
164 std::map<std::string, std::string> GetControlInfo()
const override
166 std::map<std::string, std::string> controlInfo;
167 std::stringstream ss;
168 controlInfo[
"Name"] = GetName();
169 ss << AverageRequest.
ToString(); controlInfo[
"AverageRequest"] = ss.str(); ss.str(std::string{});
170 ss << DifferentialRequest.
ToString(); controlInfo[
"DifferentialRequest"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDiff_VelocityDutyCycle_Position(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double AverageRequest_Velocity, double AverageRequest_Acceleration, bool AverageRequest_EnableFOC, double AverageRequest_FeedForward, int AverageRequest_Slot, bool AverageRequest_OverrideBrakeDurNeutral, bool AverageRequest_LimitForwardMotion, bool AverageRequest_LimitReverseMotion, double DifferentialRequest_Position, double DifferentialRequest_Velocity, bool DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, bool DifferentialRequest_OverrideBrakeDurNeutral, bool DifferentialRequest_LimitForwardMotion, bool DifferentialRequest_LimitReverseMotion)
Abstract Control Request class that other control requests extend for use.
Definition: ControlRequest.hpp:28
Request PID to target position with duty cycle feedforward.
Definition: PositionDutyCycle.hpp:31
units::dimensionless::scalar_t FeedForward
Feedforward to apply in fractional units between -1 and +1.
Definition: PositionDutyCycle.hpp:74
units::angular_velocity::turns_per_second_t Velocity
Velocity to drive toward in rotations per second.
Definition: PositionDutyCycle.hpp:59
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
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
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: PositionDutyCycle.hpp:87
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
Request PID to target velocity with duty cycle feedforward.
Definition: VelocityDutyCycle.hpp:31
int Slot
Select which gains are applied by selecting the slot.
Definition: VelocityDutyCycle.hpp:80
units::angular_acceleration::turns_per_second_squared_t Acceleration
Acceleration to drive toward in rotations per second squared.
Definition: VelocityDutyCycle.hpp:59
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: VelocityDutyCycle.hpp:87
units::angular_velocity::turns_per_second_t Velocity
Velocity to drive toward in rotations per second.
Definition: VelocityDutyCycle.hpp:54
units::dimensionless::scalar_t FeedForward
Feedforward to apply in fractional units between -1 and +1.
Definition: VelocityDutyCycle.hpp:74
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: VelocityDutyCycle.hpp:70
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: VelocityDutyCycle.hpp:99
std::string ToString() const override
Returns a string representation of the object.
Definition: VelocityDutyCycle.hpp:290
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: VelocityDutyCycle.hpp:93
Definition: RcManualEvent.hpp:12