13#include <units/angle.h>
14#include <units/angular_velocity.h>
15#include <units/angular_acceleration.h>
16#include <units/angular_jerk.h>
17#include <units/dimensionless.h>
18#include <units/frequency.h>
19#include <units/time.h>
41 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
43 if (req.get() !=
this)
46 if (reqCast !=
nullptr)
52 req = std::make_shared<DynamicMotionMagicDutyCycle>(*
this);
56 return c_ctre_phoenix6_RequestControlDynamicMotionMagicDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
Position.to<
double>(),
Velocity.to<
double>(),
Acceleration.to<
double>(),
Jerk.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
68 units::angular_velocity::turns_per_second_t
Velocity;
73 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
78 units::angular_jerk::turns_per_second_cubed_t
Jerk;
193 DynamicMotionMagicDutyCycle(units::angle::turn_t
Position, units::angular_velocity::turns_per_second_t
Velocity, units::angular_acceleration::turns_per_second_squared_t
Acceleration, units::angular_jerk::turns_per_second_cubed_t
Jerk,
bool EnableFOC =
true, units::dimensionless::scalar_t
FeedForward = 0.0,
int Slot = 0,
bool OverrideBrakeDurNeutral =
false,
bool LimitForwardMotion =
false,
bool LimitReverseMotion =
false) :
ControlRequest{
"DynamicMotionMagicDutyCycle"},
250 Jerk = std::move(newJerk);
286 Slot = std::move(newSlot);
351 std::stringstream ss;
352 ss <<
"class: DynamicMotionMagicDutyCycle" << std::endl;
353 ss <<
"Position: " <<
Position.to<
double>() << std::endl;
354 ss <<
"Velocity: " <<
Velocity.to<
double>() << std::endl;
355 ss <<
"Acceleration: " <<
Acceleration.to<
double>() << std::endl;
356 ss <<
"Jerk: " <<
Jerk.to<
double>() << std::endl;
357 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
358 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
359 ss <<
"Slot: " <<
Slot << std::endl;
373 std::map<std::string, std::string> controlInfo;
374 std::stringstream ss;
375 controlInfo[
"Name"] =
GetName();
376 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
377 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
378 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
379 ss <<
Jerk.to<
double>(); controlInfo[
"Jerk"] = ss.str(); ss.str(std::string{});
380 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
381 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
382 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
384 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
385 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDynamicMotionMagicDutyCycle(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double Position, double Velocity, double Acceleration, double Jerk, 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
Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition: DynamicMotionMagicDutyCycle.hpp:40
std::string ToString() const override
Returns a string representation of the object.
Definition: DynamicMotionMagicDutyCycle.hpp:349
units::angular_velocity::turns_per_second_t Velocity
Cruise velocity for profiling.
Definition: DynamicMotionMagicDutyCycle.hpp:68
units::angular_acceleration::turns_per_second_squared_t Acceleration
Acceleration for profiling.
Definition: DynamicMotionMagicDutyCycle.hpp:73
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: DynamicMotionMagicDutyCycle.hpp:106
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: DynamicMotionMagicDutyCycle.hpp:131
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: DynamicMotionMagicDutyCycle.hpp:89
DynamicMotionMagicDutyCycle & 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: DynamicMotionMagicDutyCycle.hpp:224
units::angular_jerk::turns_per_second_cubed_t Jerk
Jerk for profiling.
Definition: DynamicMotionMagicDutyCycle.hpp:78
DynamicMotionMagicDutyCycle & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: DynamicMotionMagicDutyCycle.hpp:284
DynamicMotionMagicDutyCycle & 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: DynamicMotionMagicDutyCycle.hpp:236
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: DynamicMotionMagicDutyCycle.hpp:112
DynamicMotionMagicDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: DynamicMotionMagicDutyCycle.hpp:308
DynamicMotionMagicDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: DynamicMotionMagicDutyCycle.hpp:339
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: DynamicMotionMagicDutyCycle.hpp:118
DynamicMotionMagicDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: DynamicMotionMagicDutyCycle.hpp:296
DynamicMotionMagicDutyCycle(units::angle::turn_t Position, units::angular_velocity::turns_per_second_t Velocity, units::angular_acceleration::turns_per_second_squared_t Acceleration, units::angular_jerk::turns_per_second_cubed_t Jerk, bool EnableFOC=true, units::dimensionless::scalar_t FeedForward=0.0, int Slot=0, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition: DynamicMotionMagicDutyCycle.hpp:193
DynamicMotionMagicDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: DynamicMotionMagicDutyCycle.hpp:260
DynamicMotionMagicDutyCycle & WithJerk(units::angular_jerk::turns_per_second_cubed_t newJerk)
Modifies this Control Request's Jerk parameter and returns itself for method-chaining and easier to u...
Definition: DynamicMotionMagicDutyCycle.hpp:248
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: DynamicMotionMagicDutyCycle.hpp:371
DynamicMotionMagicDutyCycle & WithFeedForward(units::dimensionless::scalar_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: DynamicMotionMagicDutyCycle.hpp:272
DynamicMotionMagicDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: DynamicMotionMagicDutyCycle.hpp:320
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: DynamicMotionMagicDutyCycle.hpp:63
int Slot
Select which gains are applied by selecting the slot.
Definition: DynamicMotionMagicDutyCycle.hpp:99
DynamicMotionMagicDutyCycle & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: DynamicMotionMagicDutyCycle.hpp:212
units::dimensionless::scalar_t FeedForward
Feedforward to apply in fractional units between -1 and +1.
Definition: DynamicMotionMagicDutyCycle.hpp:93
Definition: RcManualEvent.hpp:12