13#include <units/angular_velocity.h>
14#include <units/angular_acceleration.h>
15#include <units/dimensionless.h>
16#include <units/frequency.h>
17#include <units/time.h>
44 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
46 if (req.get() !=
this)
49 if (reqCast !=
nullptr)
55 req = std::make_shared<MotionMagicVelocityDutyCycle>(*
this);
59 return c_ctre_phoenix6_RequestControlMotionMagicVelocityDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(),
Velocity.to<
double>(),
Acceleration.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
67 units::angular_velocity::turns_per_second_t
Velocity;
74 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
307 Slot = std::move(newSlot);
406 std::stringstream ss;
407 ss <<
"Control: MotionMagicVelocityDutyCycle" << std::endl;
408 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << std::endl;
409 ss <<
" Acceleration: " <<
Acceleration.to<
double>() <<
" rotations per second²" << std::endl;
410 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
411 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" fractional" << std::endl;
412 ss <<
" Slot: " <<
Slot << std::endl;
416 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
427 std::map<std::string, std::string> controlInfo;
428 std::stringstream ss;
429 controlInfo[
"Name"] =
GetName();
430 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
431 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
432 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
433 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
434 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
436 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
437 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
438 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicVelocityDutyCycle(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
Requests Motion Magic® to target a final velocity using a motion profile.
Definition: MotionMagicVelocityDutyCycle.hpp:43
units::dimensionless::scalar_t FeedForward
Feedforward to apply in fractional units between -1 and +1.
Definition: MotionMagicVelocityDutyCycle.hpp:91
MotionMagicVelocityDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVelocityDutyCycle.hpp:340
MotionMagicVelocityDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicVelocityDutyCycle.hpp:323
MotionMagicVelocityDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicVelocityDutyCycle.hpp:394
MotionMagicVelocityDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: MotionMagicVelocityDutyCycle.hpp:273
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: MotionMagicVelocityDutyCycle.hpp:123
MotionMagicVelocityDutyCycle & 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: MotionMagicVelocityDutyCycle.hpp:249
MotionMagicVelocityDutyCycle & WithFeedForward(units::dimensionless::scalar_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicVelocityDutyCycle.hpp:288
units::angular_velocity::turns_per_second_t Velocity
Target velocity to drive toward in rotations per second.
Definition: MotionMagicVelocityDutyCycle.hpp:67
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicVelocityDutyCycle.hpp:116
MotionMagicVelocityDutyCycle & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: MotionMagicVelocityDutyCycle.hpp:375
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicVelocityDutyCycle.hpp:404
MotionMagicVelocityDutyCycle & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicVelocityDutyCycle.hpp:305
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicVelocityDutyCycle.hpp:97
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicVelocityDutyCycle.hpp:136
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: MotionMagicVelocityDutyCycle.hpp:87
units::angular_acceleration::turns_per_second_squared_t Acceleration
This is the absolute Acceleration to use generating the profile.
Definition: MotionMagicVelocityDutyCycle.hpp:74
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: MotionMagicVelocityDutyCycle.hpp:104
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: MotionMagicVelocityDutyCycle.hpp:425
MotionMagicVelocityDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVelocityDutyCycle.hpp:357
MotionMagicVelocityDutyCycle(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::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 velocity using a motion profile.
Definition: MotionMagicVelocityDutyCycle.hpp:209
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicVelocityDutyCycle.hpp:110
MotionMagicVelocityDutyCycle & 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: MotionMagicVelocityDutyCycle.hpp:231
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