13#include <units/dimensionless.h>
14#include <units/frequency.h>
15#include <units/time.h>
29 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
31 if (req.get() !=
this)
33 auto const reqCast =
dynamic_cast<DutyCycleOut *
>(req.get());
34 if (reqCast !=
nullptr)
40 req = std::make_shared<DutyCycleOut>(*
this);
51 units::dimensionless::scalar_t
Output;
169 Output = std::move(newOutput);
292 std::stringstream ss;
293 ss <<
"Control: DutyCycleOut" << std::endl;
294 ss <<
" Output: " <<
Output.to<
double>() <<
" fractional" << std::endl;
295 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
299 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
310 std::map<std::string, std::string> controlInfo;
311 std::stringstream ss;
312 controlInfo[
"Name"] =
GetName();
313 ss <<
Output.to<
double>(); controlInfo[
"Output"] = ss.str(); ss.str(std::string{});
314 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
316 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
317 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
318 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDutyCycleOut(const char *canbus, uint32_t ecuEncoding, double updateTime, double Output, bool EnableFOC, 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 a specified motor duty cycle.
Definition: DutyCycleOut.hpp:28
DutyCycleOut & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: DutyCycleOut.hpp:243
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: DutyCycleOut.hpp:77
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: DutyCycleOut.hpp:71
DutyCycleOut & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: DutyCycleOut.hpp:280
units::dimensionless::scalar_t Output
Proportion of supply voltage to apply in fractional units between -1 and +1.
Definition: DutyCycleOut.hpp:51
DutyCycleOut(units::dimensionless::scalar_t Output, bool EnableFOC=true, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false, bool UseTimesync=false)
Request a specified motor duty cycle.
Definition: DutyCycleOut.hpp:149
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: DutyCycleOut.hpp:103
DutyCycleOut & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: DutyCycleOut.hpp:209
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: DutyCycleOut.hpp:90
DutyCycleOut & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: DutyCycleOut.hpp:191
DutyCycleOut & WithOutput(units::dimensionless::scalar_t newOutput)
Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to...
Definition: DutyCycleOut.hpp:167
std::string ToString() const override
Returns a string representation of the object.
Definition: DutyCycleOut.hpp:290
DutyCycleOut & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: DutyCycleOut.hpp:261
DutyCycleOut & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: DutyCycleOut.hpp:226
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: DutyCycleOut.hpp:64
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: DutyCycleOut.hpp:83
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: DutyCycleOut.hpp:308
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