13#include <units/angle.h>
14#include <units/dimensionless.h>
15#include <units/frequency.h>
16#include <units/time.h>
36 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
38 if (req.get() !=
this)
41 if (reqCast !=
nullptr)
47 req = std::make_shared<MotionMagicExpoDutyCycle>(*
this);
51 return c_ctre_phoenix6_RequestControlMotionMagicExpoDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
Position.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
219 Slot = std::move(newSlot);
284 std::stringstream ss;
285 ss <<
"class: MotionMagicExpoDutyCycle" << std::endl;
286 ss <<
"Position: " <<
Position.to<
double>() << std::endl;
287 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
288 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
289 ss <<
"Slot: " <<
Slot << std::endl;
303 std::map<std::string, std::string> controlInfo;
304 std::stringstream ss;
305 controlInfo[
"Name"] =
GetName();
306 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
307 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
308 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
309 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
311 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
312 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicExpoDutyCycle(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double Position, 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
Requests Motion Magic® to target a final position using an exponential motion profile.
Definition: MotionMagicExpoDutyCycle.hpp:35
MotionMagicExpoDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicExpoDutyCycle.hpp:253
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicExpoDutyCycle.hpp:98
MotionMagicExpoDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicExpoDutyCycle.hpp:229
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: MotionMagicExpoDutyCycle.hpp:69
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: MotionMagicExpoDutyCycle.hpp:58
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicExpoDutyCycle.hpp:92
MotionMagicExpoDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: MotionMagicExpoDutyCycle.hpp:193
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicExpoDutyCycle.hpp:79
MotionMagicExpoDutyCycle & WithFeedForward(units::dimensionless::scalar_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicExpoDutyCycle.hpp:205
MotionMagicExpoDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicExpoDutyCycle.hpp:272
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicExpoDutyCycle.hpp:111
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: MotionMagicExpoDutyCycle.hpp:86
MotionMagicExpoDutyCycle & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: MotionMagicExpoDutyCycle.hpp:181
MotionMagicExpoDutyCycle & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicExpoDutyCycle.hpp:217
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicExpoDutyCycle.hpp:282
MotionMagicExpoDutyCycle(units::angle::turn_t Position, bool EnableFOC=true, units::dimensionless::scalar_t FeedForward=0.0, int Slot=0, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Requests Motion Magic® to target a final position using an exponential motion profile.
Definition: MotionMagicExpoDutyCycle.hpp:165
MotionMagicExpoDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicExpoDutyCycle.hpp:241
units::dimensionless::scalar_t FeedForward
Feedforward to apply in fractional units between -1 and +1.
Definition: MotionMagicExpoDutyCycle.hpp:73
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: MotionMagicExpoDutyCycle.hpp:301
Definition: RcManualEvent.hpp:12