13#include <units/angle.h>
14#include <units/dimensionless.h>
15#include <units/frequency.h>
16#include <units/time.h>
40 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
42 if (req.get() !=
this)
45 if (reqCast !=
nullptr)
51 req = std::make_shared<MotionMagicExpoDutyCycle>(*
this);
55 return c_ctre_phoenix6_RequestControlMotionMagicExpoDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(),
Position.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
266 Slot = std::move(newSlot);
365 std::stringstream ss;
366 ss <<
"Control: MotionMagicExpoDutyCycle" << std::endl;
367 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
368 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
369 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" fractional" << std::endl;
370 ss <<
" Slot: " <<
Slot << std::endl;
374 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
385 std::map<std::string, std::string> controlInfo;
386 std::stringstream ss;
387 controlInfo[
"Name"] =
GetName();
388 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
389 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
390 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
391 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
393 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
394 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
395 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicExpoDutyCycle(const char *canbus, uint32_t ecuEncoding, double updateTime, double Position, 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
Requests Motion Magic® to target a final position using an exponential motion profile.
Definition: MotionMagicExpoDutyCycle.hpp:39
MotionMagicExpoDutyCycle(units::angle::turn_t Position, bool EnableFOC=true, units::dimensionless::scalar_t FeedForward=0.0, int Slot=0, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false, bool UseTimesync=false)
Requests Motion Magic® to target a final position using an exponential motion profile.
Definition: MotionMagicExpoDutyCycle.hpp:188
MotionMagicExpoDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicExpoDutyCycle.hpp:316
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicExpoDutyCycle.hpp:104
MotionMagicExpoDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicExpoDutyCycle.hpp:282
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: MotionMagicExpoDutyCycle.hpp:75
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: MotionMagicExpoDutyCycle.hpp:62
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicExpoDutyCycle.hpp:98
MotionMagicExpoDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: MotionMagicExpoDutyCycle.hpp:232
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicExpoDutyCycle.hpp:85
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: MotionMagicExpoDutyCycle.hpp:111
MotionMagicExpoDutyCycle & WithFeedForward(units::dimensionless::scalar_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicExpoDutyCycle.hpp:247
MotionMagicExpoDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicExpoDutyCycle.hpp:353
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicExpoDutyCycle.hpp:124
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: MotionMagicExpoDutyCycle.hpp:92
MotionMagicExpoDutyCycle & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: MotionMagicExpoDutyCycle.hpp:208
MotionMagicExpoDutyCycle & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicExpoDutyCycle.hpp:264
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicExpoDutyCycle.hpp:363
MotionMagicExpoDutyCycle & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: MotionMagicExpoDutyCycle.hpp:334
MotionMagicExpoDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicExpoDutyCycle.hpp:299
units::dimensionless::scalar_t FeedForward
Feedforward to apply in fractional units between -1 and +1.
Definition: MotionMagicExpoDutyCycle.hpp:79
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: MotionMagicExpoDutyCycle.hpp:383
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