13#include <units/angular_velocity.h>
14#include <units/angular_acceleration.h>
15#include <units/current.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<MotionMagicVelocityTorqueCurrentFOC>(*
this);
55 return c_ctre_phoenix6_RequestControlMotionMagicVelocityTorqueCurrentFOC(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
Velocity.to<
double>(),
Acceleration.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideCoastDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
63 units::angular_velocity::turns_per_second_t
Velocity;
70 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
255 Slot = std::move(newSlot);
320 std::stringstream ss;
321 ss <<
"class: MotionMagicVelocityTorqueCurrentFOC" << std::endl;
322 ss <<
"Velocity: " <<
Velocity.to<
double>() << std::endl;
323 ss <<
"Acceleration: " <<
Acceleration.to<
double>() << std::endl;
324 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
325 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
326 ss <<
"Slot: " <<
Slot << std::endl;
340 std::map<std::string, std::string> controlInfo;
341 std::stringstream ss;
342 controlInfo[
"Name"] =
GetName();
343 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
344 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
345 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
346 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
347 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
349 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
350 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicVelocityTorqueCurrentFOC(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double Velocity, double Acceleration, bool EnableFOC, double FeedForward, int Slot, bool OverrideCoastDurNeutral, 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: MotionMagicVelocityTorqueCurrentFOC.hpp:39
MotionMagicVelocityTorqueCurrentFOC & WithFeedForward(units::current::ampere_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:241
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:92
MotionMagicVelocityTorqueCurrentFOC(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::current::ampere_t FeedForward=0.0_A, int Slot=0, bool OverrideCoastDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Requests Motion Magic® to target a final velocity using a motion profile.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:188
MotionMagicVelocityTorqueCurrentFOC & WithOverrideCoastDurNeutral(bool newOverrideCoastDurNeutral)
Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:265
MotionMagicVelocityTorqueCurrentFOC & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:229
units::current::ampere_t FeedForward
Feedforward to apply in torque current in Amperes.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:86
MotionMagicVelocityTorqueCurrentFOC & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:308
MotionMagicVelocityTorqueCurrentFOC & 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: MotionMagicVelocityTorqueCurrentFOC.hpp:205
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:338
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:105
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:111
MotionMagicVelocityTorqueCurrentFOC & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:277
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:124
bool OverrideCoastDurNeutral
Set to true to coast the rotor when output is zero (or within deadband).
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:99
MotionMagicVelocityTorqueCurrentFOC & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:253
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:318
MotionMagicVelocityTorqueCurrentFOC & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:289
units::angular_acceleration::turns_per_second_squared_t Acceleration
This is the absolute Acceleration to use generating the profile.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:70
MotionMagicVelocityTorqueCurrentFOC & 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: MotionMagicVelocityTorqueCurrentFOC.hpp:217
units::angular_velocity::turns_per_second_t Velocity
Target velocity to drive toward in rotations per second.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:63
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:81
Definition: RcManualEvent.hpp:12