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>
32 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
34 if (req.get() !=
this)
37 if (reqCast !=
nullptr)
43 req = std::make_shared<VelocityVoltage>(*
this);
47 return c_ctre_phoenix6_RequestControlVelocityVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
Velocity.to<
double>(),
Acceleration.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
54 units::angular_velocity::turns_per_second_t
Velocity;
59 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
269 Slot = std::move(newSlot);
368 std::stringstream ss;
369 ss <<
"Control: VelocityVoltage" << std::endl;
370 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << std::endl;
371 ss <<
" Acceleration: " <<
Acceleration.to<
double>() <<
" rotations per second²" << std::endl;
372 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
373 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" Volts" << std::endl;
374 ss <<
" Slot: " <<
Slot << std::endl;
378 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
389 std::map<std::string, std::string> controlInfo;
390 std::stringstream ss;
391 controlInfo[
"Name"] =
GetName();
392 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
393 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
394 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
395 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
396 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
398 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
399 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
400 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlVelocityVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, double Velocity, double Acceleration, bool EnableFOC, double FeedForward, int Slot, bool OverrideBrakeDurNeutral, bool LimitForwardMotion, bool LimitReverseMotion, bool UseTimesync)
Abstract Control Request class that other control requests extend for use.
Definition: ControlRequest.hpp:29
std::string const & GetName() const
Definition: ControlRequest.hpp:52
Request PID to target velocity with voltage feedforward.
Definition: VelocityVoltage.hpp:31
std::string ToString() const override
Returns a string representation of the object.
Definition: VelocityVoltage.hpp:366
VelocityVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: VelocityVoltage.hpp:285
VelocityVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: VelocityVoltage.hpp:302
VelocityVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: VelocityVoltage.hpp:337
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: VelocityVoltage.hpp:121
units::angular_velocity::turns_per_second_t Velocity
Velocity to drive toward in rotations per second.
Definition: VelocityVoltage.hpp:54
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: VelocityVoltage.hpp:101
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: VelocityVoltage.hpp:89
VelocityVoltage & 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: VelocityVoltage.hpp:195
VelocityVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: VelocityVoltage.hpp:250
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: VelocityVoltage.hpp:387
VelocityVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: VelocityVoltage.hpp:235
units::angular_acceleration::turns_per_second_squared_t Acceleration
Acceleration to drive toward in rotations per second squared.
Definition: VelocityVoltage.hpp:59
VelocityVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: VelocityVoltage.hpp:267
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: VelocityVoltage.hpp:95
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition: VelocityVoltage.hpp:76
int Slot
Select which gains are applied by selecting the slot.
Definition: VelocityVoltage.hpp:82
VelocityVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: VelocityVoltage.hpp:319
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: VelocityVoltage.hpp:108
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: VelocityVoltage.hpp:72
VelocityVoltage(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, bool UseTimesync=false)
Request PID to target velocity with voltage feedforward.
Definition: VelocityVoltage.hpp:174
VelocityVoltage & 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: VelocityVoltage.hpp:211
VelocityVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: VelocityVoltage.hpp:356
Status codes reported by APIs, including OK, warnings, and errors.
Definition: StatusCodes.h:27
Represents the state of one swerve module.
Definition: StatusCodes.h:18