13#include <units/voltage.h>
14#include <units/angle.h>
15#include <units/frequency.h>
16#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<DifferentialVoltage>(*
this);
47 return c_ctre_phoenix6_RequestControlDifferentialVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
TargetOutput.to<
double>(),
DifferentialPosition.to<
double>(),
EnableFOC,
DifferentialSlot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
275 std::stringstream ss;
276 ss <<
"class: DifferentialVoltage" << std::endl;
277 ss <<
"TargetOutput: " <<
TargetOutput.to<
double>() << std::endl;
279 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
294 std::map<std::string, std::string> controlInfo;
295 std::stringstream ss;
296 controlInfo[
"Name"] =
GetName();
297 ss <<
TargetOutput.to<
double>(); controlInfo[
"TargetOutput"] = ss.str(); ss.str(std::string{});
298 ss <<
DifferentialPosition.to<
double>(); controlInfo[
"DifferentialPosition"] = ss.str(); ss.str(std::string{});
299 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
300 ss <<
DifferentialSlot; controlInfo[
"DifferentialSlot"] = ss.str(); ss.str(std::string{});
302 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
303 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDifferentialVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double TargetOutput, double DifferentialPosition, bool EnableFOC, int DifferentialSlot, 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 a specified voltage with a differential position closed-loop.
Definition: DifferentialVoltage.hpp:31
DifferentialVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: DifferentialVoltage.hpp:196
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: DifferentialVoltage.hpp:69
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: DifferentialVoltage.hpp:88
DifferentialVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: DifferentialVoltage.hpp:232
units::angle::turn_t DifferentialPosition
Differential position to drive towards in rotations.
Definition: DifferentialVoltage.hpp:58
DifferentialVoltage & WithDifferentialPosition(units::angle::turn_t newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining...
Definition: DifferentialVoltage.hpp:184
int DifferentialSlot
Select which gains are applied to the differential controller by selecting the slot.
Definition: DifferentialVoltage.hpp:75
DifferentialVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: DifferentialVoltage.hpp:244
DifferentialVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: DifferentialVoltage.hpp:263
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: DifferentialVoltage.hpp:107
DifferentialVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: DifferentialVoltage.hpp:220
DifferentialVoltage & WithDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and...
Definition: DifferentialVoltage.hpp:208
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: DifferentialVoltage.hpp:94
std::string ToString() const override
Returns a string representation of the object.
Definition: DifferentialVoltage.hpp:273
DifferentialVoltage(units::voltage::volt_t TargetOutput, units::angle::turn_t DifferentialPosition, bool EnableFOC=true, int DifferentialSlot=1, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Request a specified voltage with a differential position closed-loop.
Definition: DifferentialVoltage.hpp:156
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: DifferentialVoltage.hpp:292
units::voltage::volt_t TargetOutput
Voltage to attempt to drive at.
Definition: DifferentialVoltage.hpp:54
DifferentialVoltage & WithTargetOutput(units::voltage::volt_t newTargetOutput)
Modifies this Control Request's TargetOutput parameter and returns itself for method-chaining and eas...
Definition: DifferentialVoltage.hpp:172
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: DifferentialVoltage.hpp:82
Definition: RcManualEvent.hpp:12