13#include <units/angle.h>
14#include <units/voltage.h>
15#include <units/frequency.h>
16#include <units/time.h>
35 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
37 if (req.get() !=
this)
40 if (reqCast !=
nullptr)
46 req = std::make_shared<MotionMagicVoltage>(*
this);
50 return c_ctre_phoenix6_RequestControlMotionMagicVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
Position.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
213 Slot = std::move(newSlot);
278 std::stringstream ss;
279 ss <<
"class: MotionMagicVoltage" << std::endl;
280 ss <<
"Position: " <<
Position.to<
double>() << std::endl;
281 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
282 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
283 ss <<
"Slot: " <<
Slot << std::endl;
297 std::map<std::string, std::string> controlInfo;
298 std::stringstream ss;
299 controlInfo[
"Name"] =
GetName();
300 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
301 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
302 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
303 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
305 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
306 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicVoltage(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 a motion profile.
Definition: MotionMagicVoltage.hpp:34
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: MotionMagicVoltage.hpp:68
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: MotionMagicVoltage.hpp:295
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicVoltage.hpp:276
MotionMagicVoltage & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: MotionMagicVoltage.hpp:175
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicVoltage.hpp:97
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition: MotionMagicVoltage.hpp:72
MotionMagicVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: MotionMagicVoltage.hpp:187
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicVoltage.hpp:110
MotionMagicVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVoltage.hpp:235
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: MotionMagicVoltage.hpp:85
MotionMagicVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicVoltage.hpp:223
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: MotionMagicVoltage.hpp:57
MotionMagicVoltage(units::angle::turn_t Position, bool EnableFOC=true, units::voltage::volt_t FeedForward=0.0_V, int Slot=0, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Requests Motion Magic® to target a final position using a motion profile.
Definition: MotionMagicVoltage.hpp:159
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicVoltage.hpp:91
MotionMagicVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVoltage.hpp:247
MotionMagicVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicVoltage.hpp:211
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicVoltage.hpp:78
MotionMagicVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicVoltage.hpp:199
MotionMagicVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicVoltage.hpp:266
Definition: RcManualEvent.hpp:12