CTRE Phoenix 6 C++ 24.2.0
Diff_PositionTorqueCurrentFOC_Velocity.hpp
Go to the documentation of this file.
1/*
2 * Copyright (C) Cross The Road Electronics.  All rights reserved.
3 * License information can be found in CTRE_LICENSE.txt
4 * For support and suggestions contact support@ctr-electronics.com or file
5 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases
6 */
7#pragma once
8
12#include <sstream>
15#include <units/frequency.h>
16#include <units/time.h>
17
18
19namespace ctre {
20namespace phoenix6 {
21namespace controls {
22namespace compound {
23
24/**
25 * \private
26 * Requires Phoenix Pro and CANivore;
27 * Differential control with position average target and velocity difference
28 * target using torque current control.
29 */
30class Diff_PositionTorqueCurrentFOC_Velocity : public ControlRequest
31{
32 ctre::phoenix::StatusCode SendRequest(const char *network, uint32_t deviceHash, bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req) override
33 {
34 if (req.get() != this)
35 {
36 auto const reqCast = dynamic_cast<Diff_PositionTorqueCurrentFOC_Velocity *>(req.get());
37 if (reqCast != nullptr)
38 {
39 *reqCast = *this;
40 }
41 else
42 {
43 req = std::make_shared<Diff_PositionTorqueCurrentFOC_Velocity>(*this);
44 }
45 }
46
47 return c_ctre_phoenix6_RequestControlDiff_PositionTorqueCurrentFOC_Velocity(network, deviceHash, UpdateFreqHz.to<double>(), cancelOtherRequests, AverageRequest.Position.to<double>(), AverageRequest.Velocity.to<double>(), AverageRequest.FeedForward.to<double>(), AverageRequest.Slot, AverageRequest.OverrideCoastDurNeutral, AverageRequest.LimitForwardMotion, AverageRequest.LimitReverseMotion, DifferentialRequest.Velocity.to<double>(), DifferentialRequest.Acceleration.to<double>(), DifferentialRequest.FeedForward.to<double>(), DifferentialRequest.Slot, DifferentialRequest.OverrideCoastDurNeutral, DifferentialRequest.LimitForwardMotion, DifferentialRequest.LimitReverseMotion);
48 }
49
50public:
51 /**
52 * Average PositionTorqueCurrentFOC request of the mechanism.
53 */
54 PositionTorqueCurrentFOC AverageRequest;
55 /**
56 * Differential VelocityTorqueCurrentFOC request of the mechanism.
57 */
58 VelocityTorqueCurrentFOC DifferentialRequest;
59
60 /**
61 * \brief The period at which this control will update at.
62 * This is designated in Hertz, with a minimum of 20 Hz
63 * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
64 *
65 * If this field is set to 0 Hz, the control request will
66 * be sent immediately as a one-shot frame. This may be useful
67 * for advanced applications that require outputs to be
68 * synchronized with data acquisition. In this case, we
69 * recommend not exceeding 50 ms between control calls.
70 */
71 units::frequency::hertz_t UpdateFreqHz{100_Hz}; // Default to 100_Hz
72
73 /**
74 * \brief Requires Phoenix Pro and CANivore;
75 * Differential control with position
76 * average target and velocity difference target using torque current
77 * control.
78 *
79 * \param AverageRequest Average PositionTorqueCurrentFOC request of the
80 * mechanism.
81 * \param DifferentialRequest Differential VelocityTorqueCurrentFOC request
82 * of the mechanism.
83 */
84 Diff_PositionTorqueCurrentFOC_Velocity(PositionTorqueCurrentFOC AverageRequest, VelocityTorqueCurrentFOC DifferentialRequest) : ControlRequest{"Diff_PositionTorqueCurrentFOC_Velocity"},
85 AverageRequest{std::move(AverageRequest)},
86 DifferentialRequest{std::move(DifferentialRequest)}
87 {}
88
89 /**
90 * \brief Modifies this Control Request's AverageRequest parameter and returns itself for
91 * method-chaining and easier to use request API.
92 * \param newAverageRequest Parameter to modify
93 * \returns Itself
94 */
95 Diff_PositionTorqueCurrentFOC_Velocity& WithAverageRequest(PositionTorqueCurrentFOC newAverageRequest)
96 {
97 AverageRequest = std::move(newAverageRequest);
98 return *this;
99 }
100
101 /**
102 * \brief Modifies this Control Request's DifferentialRequest parameter and returns itself for
103 * method-chaining and easier to use request API.
104 * \param newDifferentialRequest Parameter to modify
105 * \returns Itself
106 */
107 Diff_PositionTorqueCurrentFOC_Velocity& WithDifferentialRequest(VelocityTorqueCurrentFOC newDifferentialRequest)
108 {
109 DifferentialRequest = std::move(newDifferentialRequest);
110 return *this;
111 }
112 /**
113 * \brief Sets the period at which this control will update at.
114 * This is designated in Hertz, with a minimum of 20 Hz
115 * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
116 *
117 * If this field is set to 0 Hz, the control request will
118 * be sent immediately as a one-shot frame. This may be useful
119 * for advanced applications that require outputs to be
120 * synchronized with data acquisition. In this case, we
121 * recommend not exceeding 50 ms between control calls.
122 *
123 * \param newUpdateFreqHz Parameter to modify
124 * \returns Itself
125 */
126 Diff_PositionTorqueCurrentFOC_Velocity &WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
127 {
128 UpdateFreqHz = newUpdateFreqHz;
129 return *this;
130 }
131 /**
132 * Returns a string representation of the object.
133 *
134 * \returns a string representation of the object.
135 */
136 std::string ToString() const override
137 {
138 std::stringstream ss;
139 ss << "class: Diff_PositionTorqueCurrentFOC_Velocity" << std::endl;
140 ss << "AverageRequest:" << std::endl;
141 ss << " Position: " << AverageRequest.Position.to<double>() << std::endl;
142 ss << " Velocity: " << AverageRequest.Velocity.to<double>() << std::endl;
143 ss << " FeedForward: " << AverageRequest.FeedForward.to<double>() << std::endl;
144 ss << " Slot: " << AverageRequest.Slot << std::endl;
145 ss << " OverrideCoastDurNeutral: " << AverageRequest.OverrideCoastDurNeutral << std::endl;
146 ss << " LimitForwardMotion: " << AverageRequest.LimitForwardMotion << std::endl;
147 ss << " LimitReverseMotion: " << AverageRequest.LimitReverseMotion << std::endl;
148 ss << "DifferentialRequest:" << std::endl;
149 ss << " Velocity: " << DifferentialRequest.Velocity.to<double>() << std::endl;
150 ss << " Acceleration: " << DifferentialRequest.Acceleration.to<double>() << std::endl;
151 ss << " FeedForward: " << DifferentialRequest.FeedForward.to<double>() << std::endl;
152 ss << " Slot: " << DifferentialRequest.Slot << std::endl;
153 ss << " OverrideCoastDurNeutral: " << DifferentialRequest.OverrideCoastDurNeutral << std::endl;
154 ss << " LimitForwardMotion: " << DifferentialRequest.LimitForwardMotion << std::endl;
155 ss << " LimitReverseMotion: " << DifferentialRequest.LimitReverseMotion << std::endl;
156 return ss.str();
157 }
158
159 /**
160 * \brief Gets information about this control request.
161 *
162 * \returns Map of control parameter names and corresponding applied values
163 */
164 std::map<std::string, std::string> GetControlInfo() const override
165 {
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{});
171 return controlInfo;
172 }
173};
174
175}
176}
177}
178}
179
CTREXPORT int c_ctre_phoenix6_RequestControlDiff_PositionTorqueCurrentFOC_Velocity(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double AverageRequest_Position, double AverageRequest_Velocity, double AverageRequest_FeedForward, int AverageRequest_Slot, bool AverageRequest_OverrideCoastDurNeutral, bool AverageRequest_LimitForwardMotion, bool AverageRequest_LimitReverseMotion, double DifferentialRequest_Velocity, double DifferentialRequest_Acceleration, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, bool DifferentialRequest_OverrideCoastDurNeutral, bool DifferentialRequest_LimitForwardMotion, bool DifferentialRequest_LimitReverseMotion)
std::string const & GetName() const
Definition: ControlRequest.hpp:51
ControlRequest(ControlRequest const &)=default
Definition: RcManualEvent.hpp:12