13#include <units/angle.h>
14#include <units/voltage.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<MotionMagicExpoVoltage>(*
this);
51 return c_ctre_phoenix6_RequestControlMotionMagicExpoVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
Position.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
216 Slot = std::move(newSlot);
281 std::stringstream ss;
282 ss <<
"class: MotionMagicExpoVoltage" << std::endl;
283 ss <<
"Position: " <<
Position.to<
double>() << std::endl;
284 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
285 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
286 ss <<
"Slot: " <<
Slot << std::endl;
300 std::map<std::string, std::string> controlInfo;
301 std::stringstream ss;
302 controlInfo[
"Name"] =
GetName();
303 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
304 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
305 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
306 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
308 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
309 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicExpoVoltage(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: MotionMagicExpoVoltage.hpp:35
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicExpoVoltage.hpp:279
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicExpoVoltage.hpp:111
MotionMagicExpoVoltage & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: MotionMagicExpoVoltage.hpp:178
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: MotionMagicExpoVoltage.hpp:69
MotionMagicExpoVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicExpoVoltage.hpp:238
MotionMagicExpoVoltage(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 an exponential motion profile.
Definition: MotionMagicExpoVoltage.hpp:162
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicExpoVoltage.hpp:79
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicExpoVoltage.hpp:98
MotionMagicExpoVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicExpoVoltage.hpp:214
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: MotionMagicExpoVoltage.hpp:86
MotionMagicExpoVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicExpoVoltage.hpp:250
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: MotionMagicExpoVoltage.hpp:298
MotionMagicExpoVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicExpoVoltage.hpp:202
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: MotionMagicExpoVoltage.hpp:58
MotionMagicExpoVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicExpoVoltage.hpp:226
MotionMagicExpoVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicExpoVoltage.hpp:269
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition: MotionMagicExpoVoltage.hpp:73
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicExpoVoltage.hpp:92
MotionMagicExpoVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: MotionMagicExpoVoltage.hpp:190
Definition: RcManualEvent.hpp:12