13#include <units/angular_velocity.h>
14#include <units/angular_acceleration.h>
15#include <units/voltage.h>
16#include <units/frequency.h>
17#include <units/time.h>
32 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
34 if (req.get() !=
this)
37 if (reqCast !=
nullptr)
43 req = std::make_shared<VelocityVoltage>(*
this);
47 return c_ctre_phoenix6_RequestControlVelocityVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
Velocity.to<
double>(),
Acceleration.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
54 units::angular_velocity::turns_per_second_t
Velocity;
59 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
226 Slot = std::move(newSlot);
291 std::stringstream ss;
292 ss <<
"class: VelocityVoltage" << std::endl;
293 ss <<
"Velocity: " <<
Velocity.to<
double>() << std::endl;
294 ss <<
"Acceleration: " <<
Acceleration.to<
double>() << std::endl;
295 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
296 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
297 ss <<
"Slot: " <<
Slot << std::endl;
311 std::map<std::string, std::string> controlInfo;
312 std::stringstream ss;
313 controlInfo[
"Name"] =
GetName();
314 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
315 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
316 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
317 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
318 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
320 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
321 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlVelocityVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double Velocity, double Acceleration, 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
Request PID to target velocity with voltage feedforward.
Definition: VelocityVoltage.hpp:31
std::string ToString() const override
Returns a string representation of the object.
Definition: VelocityVoltage.hpp:289
VelocityVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: VelocityVoltage.hpp:236
VelocityVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: VelocityVoltage.hpp:248
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: VelocityVoltage.hpp:112
units::angular_velocity::turns_per_second_t Velocity
Velocity to drive toward in rotations per second.
Definition: VelocityVoltage.hpp:54
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: VelocityVoltage.hpp:99
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: VelocityVoltage.hpp:87
VelocityVoltage & 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: VelocityVoltage.hpp:176
VelocityVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: VelocityVoltage.hpp:212
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: VelocityVoltage.hpp:309
VelocityVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: VelocityVoltage.hpp:200
units::angular_acceleration::turns_per_second_squared_t Acceleration
Acceleration to drive toward in rotations per second squared.
Definition: VelocityVoltage.hpp:59
VelocityVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: VelocityVoltage.hpp:224
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: VelocityVoltage.hpp:93
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition: VelocityVoltage.hpp:74
int Slot
Select which gains are applied by selecting the slot.
Definition: VelocityVoltage.hpp:80
VelocityVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: VelocityVoltage.hpp:260
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: VelocityVoltage.hpp:70
VelocityVoltage & 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: VelocityVoltage.hpp:188
VelocityVoltage(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::voltage::volt_t FeedForward=0.0_V, int Slot=0, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Request PID to target velocity with voltage feedforward.
Definition: VelocityVoltage.hpp:159
VelocityVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: VelocityVoltage.hpp:279
Definition: RcManualEvent.hpp:12