13#include <units/angular_velocity.h>
14#include <units/angle.h>
15#include <units/frequency.h>
16#include <units/time.h>
31 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
33 if (req.get() !=
this)
36 if (reqCast !=
nullptr)
42 req = std::make_shared<DifferentialVelocityDutyCycle>(*
this);
46 return c_ctre_phoenix6_RequestControlDifferentialVelocityDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
TargetVelocity.to<
double>(),
DifferentialPosition.to<
double>(),
EnableFOC,
TargetSlot,
DifferentialSlot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
296 std::stringstream ss;
297 ss <<
"class: DifferentialVelocityDutyCycle" << std::endl;
298 ss <<
"TargetVelocity: " <<
TargetVelocity.to<
double>() << std::endl;
300 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
301 ss <<
"TargetSlot: " <<
TargetSlot << std::endl;
316 std::map<std::string, std::string> controlInfo;
317 std::stringstream ss;
318 controlInfo[
"Name"] =
GetName();
319 ss <<
TargetVelocity.to<
double>(); controlInfo[
"TargetVelocity"] = ss.str(); ss.str(std::string{});
320 ss <<
DifferentialPosition.to<
double>(); controlInfo[
"DifferentialPosition"] = ss.str(); ss.str(std::string{});
321 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
322 ss <<
TargetSlot; controlInfo[
"TargetSlot"] = ss.str(); ss.str(std::string{});
323 ss <<
DifferentialSlot; controlInfo[
"DifferentialSlot"] = ss.str(); ss.str(std::string{});
325 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
326 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDifferentialVelocityDutyCycle(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double TargetVelocity, double DifferentialPosition, bool EnableFOC, int TargetSlot, int DifferentialSlot, 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 velocity with a differential position setpoint.
Definition: DifferentialVelocityDutyCycle.hpp:30
DifferentialVelocityDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: DifferentialVelocityDutyCycle.hpp:284
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: DifferentialVelocityDutyCycle.hpp:68
units::angle::turn_t DifferentialPosition
Differential position to drive toward in rotations.
Definition: DifferentialVelocityDutyCycle.hpp:57
DifferentialVelocityDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: DifferentialVelocityDutyCycle.hpp:265
int DifferentialSlot
Select which gains are applied to the differential controller by selecting the slot.
Definition: DifferentialVelocityDutyCycle.hpp:80
DifferentialVelocityDutyCycle & WithDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and...
Definition: DifferentialVelocityDutyCycle.hpp:229
DifferentialVelocityDutyCycle & WithDifferentialPosition(units::angle::turn_t newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining...
Definition: DifferentialVelocityDutyCycle.hpp:193
std::string ToString() const override
Returns a string representation of the object.
Definition: DifferentialVelocityDutyCycle.hpp:294
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: DifferentialVelocityDutyCycle.hpp:112
DifferentialVelocityDutyCycle & WithTargetVelocity(units::angular_velocity::turns_per_second_t newTargetVelocity)
Modifies this Control Request's TargetVelocity parameter and returns itself for method-chaining and e...
Definition: DifferentialVelocityDutyCycle.hpp:181
DifferentialVelocityDutyCycle & WithTargetSlot(int newTargetSlot)
Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easie...
Definition: DifferentialVelocityDutyCycle.hpp:217
DifferentialVelocityDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: DifferentialVelocityDutyCycle.hpp:253
DifferentialVelocityDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: DifferentialVelocityDutyCycle.hpp:205
DifferentialVelocityDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: DifferentialVelocityDutyCycle.hpp:241
units::angular_velocity::turns_per_second_t TargetVelocity
Average velocity to drive toward in rotations per second.
Definition: DifferentialVelocityDutyCycle.hpp:53
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: DifferentialVelocityDutyCycle.hpp:93
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: DifferentialVelocityDutyCycle.hpp:99
DifferentialVelocityDutyCycle(units::angular_velocity::turns_per_second_t TargetVelocity, units::angle::turn_t DifferentialPosition, bool EnableFOC=true, int TargetSlot=0, int DifferentialSlot=1, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Request PID to target velocity with a differential position setpoint.
Definition: DifferentialVelocityDutyCycle.hpp:164
int TargetSlot
Select which gains are applied to the primary controller by selecting the slot.
Definition: DifferentialVelocityDutyCycle.hpp:74
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: DifferentialVelocityDutyCycle.hpp:314
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: DifferentialVelocityDutyCycle.hpp:87
Definition: RcManualEvent.hpp:12