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>
33 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
35 if (req.get() !=
this)
38 if (reqCast !=
nullptr)
44 req = std::make_shared<VelocityTorqueCurrentFOC>(*
this);
48 return c_ctre_phoenix6_RequestControlVelocityTorqueCurrentFOC(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
Velocity.to<
double>(),
Acceleration.to<
double>(),
FeedForward.to<
double>(),
Slot,
OverrideCoastDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
55 units::angular_velocity::turns_per_second_t
Velocity;
60 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
196 Slot = std::move(newSlot);
261 std::stringstream ss;
262 ss <<
"class: VelocityTorqueCurrentFOC" << std::endl;
263 ss <<
"Velocity: " <<
Velocity.to<
double>() << std::endl;
264 ss <<
"Acceleration: " <<
Acceleration.to<
double>() << std::endl;
265 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
266 ss <<
"Slot: " <<
Slot << std::endl;
280 std::map<std::string, std::string> controlInfo;
281 std::stringstream ss;
282 controlInfo[
"Name"] =
GetName();
283 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
284 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
285 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
286 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
288 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
289 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlVelocityTorqueCurrentFOC(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double Velocity, double Acceleration, 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
Requires Phoenix Pro; Request PID to target velocity with torque current feedforward.
Definition: VelocityTorqueCurrentFOC.hpp:32
units::angular_acceleration::turns_per_second_squared_t Acceleration
Acceleration to drive toward in rotations per second squared.
Definition: VelocityTorqueCurrentFOC.hpp:60
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: VelocityTorqueCurrentFOC.hpp:278
VelocityTorqueCurrentFOC & WithOverrideCoastDurNeutral(bool newOverrideCoastDurNeutral)
Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chain...
Definition: VelocityTorqueCurrentFOC.hpp:206
bool OverrideCoastDurNeutral
Set to true to coast the rotor when output is zero (or within deadband).
Definition: VelocityTorqueCurrentFOC.hpp:78
units::angular_velocity::turns_per_second_t Velocity
Velocity to drive toward in rotations per second.
Definition: VelocityTorqueCurrentFOC.hpp:55
units::current::ampere_t FeedForward
Feedforward to apply in torque current in Amperes.
Definition: VelocityTorqueCurrentFOC.hpp:65
VelocityTorqueCurrentFOC & 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: VelocityTorqueCurrentFOC.hpp:158
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: VelocityTorqueCurrentFOC.hpp:103
VelocityTorqueCurrentFOC(units::angular_velocity::turns_per_second_t Velocity, units::angular_acceleration::turns_per_second_squared_t Acceleration=0.0_tr_per_s_sq, units::current::ampere_t FeedForward=0.0_A, int Slot=0, bool OverrideCoastDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Requires Phoenix Pro; Request PID to target velocity with torque current feedforward.
Definition: VelocityTorqueCurrentFOC.hpp:142
VelocityTorqueCurrentFOC & WithFeedForward(units::current::ampere_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: VelocityTorqueCurrentFOC.hpp:182
VelocityTorqueCurrentFOC & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: VelocityTorqueCurrentFOC.hpp:194
VelocityTorqueCurrentFOC & 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: VelocityTorqueCurrentFOC.hpp:170
int Slot
Select which gains are applied by selecting the slot.
Definition: VelocityTorqueCurrentFOC.hpp:71
VelocityTorqueCurrentFOC & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: VelocityTorqueCurrentFOC.hpp:218
std::string ToString() const override
Returns a string representation of the object.
Definition: VelocityTorqueCurrentFOC.hpp:259
VelocityTorqueCurrentFOC & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: VelocityTorqueCurrentFOC.hpp:230
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: VelocityTorqueCurrentFOC.hpp:90
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: VelocityTorqueCurrentFOC.hpp:84
VelocityTorqueCurrentFOC & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: VelocityTorqueCurrentFOC.hpp:249
Definition: RcManualEvent.hpp:12