13#include <units/angle.h>
14#include <units/frequency.h>
15#include <units/time.h>
36 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
38 if (req.get() !=
this)
41 if (reqCast !=
nullptr)
47 req = std::make_shared<DifferentialMotionMagicDutyCycle>(*
this);
51 return c_ctre_phoenix6_RequestControlDifferentialMotionMagicDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(),
TargetPosition.to<
double>(),
DifferentialPosition.to<
double>(),
EnableFOC,
TargetSlot,
DifferentialSlot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
385 std::stringstream ss;
386 ss <<
"Control: DifferentialMotionMagicDutyCycle" << std::endl;
387 ss <<
" TargetPosition: " <<
TargetPosition.to<
double>() <<
" rotations" << std::endl;
388 ss <<
" DifferentialPosition: " <<
DifferentialPosition.to<
double>() <<
" rotations" << std::endl;
389 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
390 ss <<
" TargetSlot: " <<
TargetSlot << std::endl;
395 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
406 std::map<std::string, std::string> controlInfo;
407 std::stringstream ss;
408 controlInfo[
"Name"] =
GetName();
409 ss <<
TargetPosition.to<
double>(); controlInfo[
"TargetPosition"] = ss.str(); ss.str(std::string{});
410 ss <<
DifferentialPosition.to<
double>(); controlInfo[
"DifferentialPosition"] = ss.str(); ss.str(std::string{});
411 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
412 ss <<
TargetSlot; controlInfo[
"TargetSlot"] = ss.str(); ss.str(std::string{});
413 ss <<
DifferentialSlot; controlInfo[
"DifferentialSlot"] = ss.str(); ss.str(std::string{});
415 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
416 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
417 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDifferentialMotionMagicDutyCycle(const char *canbus, uint32_t ecuEncoding, double updateTime, double TargetPosition, double DifferentialPosition, bool EnableFOC, int TargetSlot, int DifferentialSlot, 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 a motion profile, and PID to a differential p...
Definition: DifferentialMotionMagicDutyCycle.hpp:35
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: DifferentialMotionMagicDutyCycle.hpp:106
DifferentialMotionMagicDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: DifferentialMotionMagicDutyCycle.hpp:319
int TargetSlot
Select which gains are applied to the primary controller by selecting the slot.
Definition: DifferentialMotionMagicDutyCycle.hpp:81
DifferentialMotionMagicDutyCycle & WithTargetPosition(units::angle::turn_t newTargetPosition)
Modifies this Control Request's TargetPosition parameter and returns itself for method-chaining and e...
Definition: DifferentialMotionMagicDutyCycle.hpp:211
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: DifferentialMotionMagicDutyCycle.hpp:94
int DifferentialSlot
Select which gains are applied to the differential controller by selecting the slot.
Definition: DifferentialMotionMagicDutyCycle.hpp:87
DifferentialMotionMagicDutyCycle & WithTargetSlot(int newTargetSlot)
Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easie...
Definition: DifferentialMotionMagicDutyCycle.hpp:267
DifferentialMotionMagicDutyCycle & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: DifferentialMotionMagicDutyCycle.hpp:354
DifferentialMotionMagicDutyCycle & WithDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and...
Definition: DifferentialMotionMagicDutyCycle.hpp:284
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: DifferentialMotionMagicDutyCycle.hpp:113
DifferentialMotionMagicDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: DifferentialMotionMagicDutyCycle.hpp:302
DifferentialMotionMagicDutyCycle(units::angle::turn_t TargetPosition, units::angle::turn_t DifferentialPosition, bool EnableFOC=true, int TargetSlot=0, int DifferentialSlot=1, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false, bool UseTimesync=false)
Requests Motion Magic® to target a final position using a motion profile, and PID to a differential p...
Definition: DifferentialMotionMagicDutyCycle.hpp:190
units::angle::turn_t TargetPosition
Average position to drive toward in rotations.
Definition: DifferentialMotionMagicDutyCycle.hpp:58
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: DifferentialMotionMagicDutyCycle.hpp:75
std::string ToString() const override
Returns a string representation of the object.
Definition: DifferentialMotionMagicDutyCycle.hpp:383
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: DifferentialMotionMagicDutyCycle.hpp:100
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: DifferentialMotionMagicDutyCycle.hpp:404
DifferentialMotionMagicDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: DifferentialMotionMagicDutyCycle.hpp:373
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: DifferentialMotionMagicDutyCycle.hpp:126
DifferentialMotionMagicDutyCycle & WithDifferentialPosition(units::angle::turn_t newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining...
Definition: DifferentialMotionMagicDutyCycle.hpp:226
units::angle::turn_t DifferentialPosition
Differential position to drive toward in rotations.
Definition: DifferentialMotionMagicDutyCycle.hpp:62
DifferentialMotionMagicDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: DifferentialMotionMagicDutyCycle.hpp:250
DifferentialMotionMagicDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: DifferentialMotionMagicDutyCycle.hpp:336
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