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>
40 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
42 if (req.get() !=
this)
45 if (reqCast !=
nullptr)
51 req = std::make_shared<MotionMagicVelocityVoltage>(*
this);
55 return c_ctre_phoenix6_RequestControlMotionMagicVelocityVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
Velocity.to<
double>(),
Acceleration.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
63 units::angular_velocity::turns_per_second_t
Velocity;
70 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
252 Slot = std::move(newSlot);
317 std::stringstream ss;
318 ss <<
"class: MotionMagicVelocityVoltage" << std::endl;
319 ss <<
"Velocity: " <<
Velocity.to<
double>() << std::endl;
320 ss <<
"Acceleration: " <<
Acceleration.to<
double>() << std::endl;
321 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
322 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
323 ss <<
"Slot: " <<
Slot << std::endl;
337 std::map<std::string, std::string> controlInfo;
338 std::stringstream ss;
339 controlInfo[
"Name"] =
GetName();
340 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
341 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
342 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
343 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
344 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
346 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
347 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicVelocityVoltage(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
Requests Motion Magic® to target a final velocity using a motion profile.
Definition: MotionMagicVelocityVoltage.hpp:39
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: MotionMagicVelocityVoltage.hpp:98
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicVelocityVoltage.hpp:104
MotionMagicVelocityVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicVelocityVoltage.hpp:250
MotionMagicVelocityVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVelocityVoltage.hpp:274
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicVelocityVoltage.hpp:315
MotionMagicVelocityVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicVelocityVoltage.hpp:305
MotionMagicVelocityVoltage & 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: MotionMagicVelocityVoltage.hpp:214
MotionMagicVelocityVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVelocityVoltage.hpp:286
units::angular_velocity::turns_per_second_t Velocity
Target velocity to drive toward in rotations per second.
Definition: MotionMagicVelocityVoltage.hpp:63
MotionMagicVelocityVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicVelocityVoltage.hpp:262
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicVelocityVoltage.hpp:91
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicVelocityVoltage.hpp:123
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: MotionMagicVelocityVoltage.hpp:81
MotionMagicVelocityVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: MotionMagicVelocityVoltage.hpp:226
units::angular_acceleration::turns_per_second_squared_t Acceleration
This is the absolute Acceleration to use generating the profile.
Definition: MotionMagicVelocityVoltage.hpp:70
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicVelocityVoltage.hpp:110
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition: MotionMagicVelocityVoltage.hpp:85
MotionMagicVelocityVoltage & 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: MotionMagicVelocityVoltage.hpp:202
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: MotionMagicVelocityVoltage.hpp:335
MotionMagicVelocityVoltage(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)
Requests Motion Magic® to target a final velocity using a motion profile.
Definition: MotionMagicVelocityVoltage.hpp:185
MotionMagicVelocityVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicVelocityVoltage.hpp:238
Definition: RcManualEvent.hpp:12