13#include <units/angle.h>
14#include <units/angular_velocity.h>
15#include <units/angular_acceleration.h>
16#include <units/angular_jerk.h>
17#include <units/dimensionless.h>
18#include <units/frequency.h>
19#include <units/time.h>
42 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
44 if (req.get() !=
this)
47 if (reqCast !=
nullptr)
53 req = std::make_shared<DynamicMotionMagicDutyCycle>(*
this);
57 return c_ctre_phoenix6_RequestControlDynamicMotionMagicDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(),
Position.to<
double>(),
Velocity.to<
double>(),
Acceleration.to<
double>(),
Jerk.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
69 units::angular_velocity::turns_per_second_t
Velocity;
74 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
79 units::angular_jerk::turns_per_second_cubed_t
Jerk;
210 DynamicMotionMagicDutyCycle(units::angle::turn_t
Position, units::angular_velocity::turns_per_second_t
Velocity, units::angular_acceleration::turns_per_second_squared_t
Acceleration, units::angular_jerk::turns_per_second_cubed_t
Jerk,
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) :
ControlRequest{
"DynamicMotionMagicDutyCycle"},
283 Jerk = std::move(newJerk);
339 Slot = std::move(newSlot);
438 std::stringstream ss;
439 ss <<
"Control: DynamicMotionMagicDutyCycle" << std::endl;
440 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
441 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << std::endl;
442 ss <<
" Acceleration: " <<
Acceleration.to<
double>() <<
" rotations per second²" << std::endl;
443 ss <<
" Jerk: " <<
Jerk.to<
double>() <<
" rotations per second³" << std::endl;
444 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
445 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" fractional" << std::endl;
446 ss <<
" Slot: " <<
Slot << std::endl;
450 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
461 std::map<std::string, std::string> controlInfo;
462 std::stringstream ss;
463 controlInfo[
"Name"] =
GetName();
464 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
465 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
466 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
467 ss <<
Jerk.to<
double>(); controlInfo[
"Jerk"] = ss.str(); ss.str(std::string{});
468 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
469 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
470 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
472 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
473 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
474 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDynamicMotionMagicDutyCycle(const char *canbus, uint32_t ecuEncoding, double updateTime, double Position, double Velocity, double Acceleration, double Jerk, 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
Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition: DynamicMotionMagicDutyCycle.hpp:41
std::string ToString() const override
Returns a string representation of the object.
Definition: DynamicMotionMagicDutyCycle.hpp:436
DynamicMotionMagicDutyCycle & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: DynamicMotionMagicDutyCycle.hpp:407
units::angular_velocity::turns_per_second_t Velocity
Cruise velocity for profiling.
Definition: DynamicMotionMagicDutyCycle.hpp:69
units::angular_acceleration::turns_per_second_squared_t Acceleration
Acceleration for profiling.
Definition: DynamicMotionMagicDutyCycle.hpp:74
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: DynamicMotionMagicDutyCycle.hpp:109
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: DynamicMotionMagicDutyCycle.hpp:141
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: DynamicMotionMagicDutyCycle.hpp:92
DynamicMotionMagicDutyCycle & 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: DynamicMotionMagicDutyCycle.hpp:249
DynamicMotionMagicDutyCycle(units::angle::turn_t Position, units::angular_velocity::turns_per_second_t Velocity, units::angular_acceleration::turns_per_second_squared_t Acceleration, units::angular_jerk::turns_per_second_cubed_t Jerk, 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)
Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition: DynamicMotionMagicDutyCycle.hpp:210
units::angular_jerk::turns_per_second_cubed_t Jerk
Jerk for profiling.
Definition: DynamicMotionMagicDutyCycle.hpp:79
DynamicMotionMagicDutyCycle & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: DynamicMotionMagicDutyCycle.hpp:337
DynamicMotionMagicDutyCycle & 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: DynamicMotionMagicDutyCycle.hpp:265
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: DynamicMotionMagicDutyCycle.hpp:115
DynamicMotionMagicDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: DynamicMotionMagicDutyCycle.hpp:372
DynamicMotionMagicDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: DynamicMotionMagicDutyCycle.hpp:426
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: DynamicMotionMagicDutyCycle.hpp:121
DynamicMotionMagicDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: DynamicMotionMagicDutyCycle.hpp:355
DynamicMotionMagicDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: DynamicMotionMagicDutyCycle.hpp:305
DynamicMotionMagicDutyCycle & WithJerk(units::angular_jerk::turns_per_second_cubed_t newJerk)
Modifies this Control Request's Jerk parameter and returns itself for method-chaining and easier to u...
Definition: DynamicMotionMagicDutyCycle.hpp:281
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: DynamicMotionMagicDutyCycle.hpp:459
DynamicMotionMagicDutyCycle & WithFeedForward(units::dimensionless::scalar_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: DynamicMotionMagicDutyCycle.hpp:320
DynamicMotionMagicDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: DynamicMotionMagicDutyCycle.hpp:389
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: DynamicMotionMagicDutyCycle.hpp:64
int Slot
Select which gains are applied by selecting the slot.
Definition: DynamicMotionMagicDutyCycle.hpp:102
DynamicMotionMagicDutyCycle & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: DynamicMotionMagicDutyCycle.hpp:233
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: DynamicMotionMagicDutyCycle.hpp:128
units::dimensionless::scalar_t FeedForward
Feedforward to apply in fractional units between -1 and +1.
Definition: DynamicMotionMagicDutyCycle.hpp:96
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