13#include <units/angle.h>
14#include <units/frequency.h>
15#include <units/time.h>
35 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
37 if (req.get() !=
this)
40 if (reqCast !=
nullptr)
46 req = std::make_shared<DifferentialMotionMagicVoltage>(*
this);
50 return c_ctre_phoenix6_RequestControlDifferentialMotionMagicVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
TargetPosition.to<
double>(),
DifferentialPosition.to<
double>(),
EnableFOC,
TargetSlot,
DifferentialSlot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
383 std::stringstream ss;
384 ss <<
"Control: DifferentialMotionMagicVoltage" << std::endl;
385 ss <<
" TargetPosition: " <<
TargetPosition.to<
double>() <<
" rotations" << std::endl;
386 ss <<
" DifferentialPosition: " <<
DifferentialPosition.to<
double>() <<
" rotations" << std::endl;
387 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
388 ss <<
" TargetSlot: " <<
TargetSlot << std::endl;
393 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
404 std::map<std::string, std::string> controlInfo;
405 std::stringstream ss;
406 controlInfo[
"Name"] =
GetName();
407 ss <<
TargetPosition.to<
double>(); controlInfo[
"TargetPosition"] = ss.str(); ss.str(std::string{});
408 ss <<
DifferentialPosition.to<
double>(); controlInfo[
"DifferentialPosition"] = ss.str(); ss.str(std::string{});
409 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
410 ss <<
TargetSlot; controlInfo[
"TargetSlot"] = ss.str(); ss.str(std::string{});
411 ss <<
DifferentialSlot; controlInfo[
"DifferentialSlot"] = ss.str(); ss.str(std::string{});
413 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
414 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
415 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDifferentialMotionMagicVoltage(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: DifferentialMotionMagicVoltage.hpp:34
DifferentialMotionMagicVoltage & WithDifferentialPosition(units::angle::turn_t newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining...
Definition: DifferentialMotionMagicVoltage.hpp:224
DifferentialMotionMagicVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: DifferentialMotionMagicVoltage.hpp:352
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: DifferentialMotionMagicVoltage.hpp:125
units::angle::turn_t DifferentialPosition
Differential position to drive toward in rotations.
Definition: DifferentialMotionMagicVoltage.hpp:61
int DifferentialSlot
Select which gains are applied to the differential controller by selecting the slot.
Definition: DifferentialMotionMagicVoltage.hpp:86
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: DifferentialMotionMagicVoltage.hpp:93
units::angle::turn_t TargetPosition
Average position to drive toward in rotations.
Definition: DifferentialMotionMagicVoltage.hpp:57
std::string ToString() const override
Returns a string representation of the object.
Definition: DifferentialMotionMagicVoltage.hpp:381
DifferentialMotionMagicVoltage & WithTargetSlot(int newTargetSlot)
Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easie...
Definition: DifferentialMotionMagicVoltage.hpp:265
int TargetSlot
Select which gains are applied to the primary controller by selecting the slot.
Definition: DifferentialMotionMagicVoltage.hpp:80
DifferentialMotionMagicVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: DifferentialMotionMagicVoltage.hpp:248
DifferentialMotionMagicVoltage & WithDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and...
Definition: DifferentialMotionMagicVoltage.hpp:282
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: DifferentialMotionMagicVoltage.hpp:105
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: DifferentialMotionMagicVoltage.hpp:74
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: DifferentialMotionMagicVoltage.hpp:99
DifferentialMotionMagicVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: DifferentialMotionMagicVoltage.hpp:300
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: DifferentialMotionMagicVoltage.hpp:112
DifferentialMotionMagicVoltage & WithTargetPosition(units::angle::turn_t newTargetPosition)
Modifies this Control Request's TargetPosition parameter and returns itself for method-chaining and e...
Definition: DifferentialMotionMagicVoltage.hpp:209
DifferentialMotionMagicVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: DifferentialMotionMagicVoltage.hpp:371
DifferentialMotionMagicVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: DifferentialMotionMagicVoltage.hpp:334
DifferentialMotionMagicVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: DifferentialMotionMagicVoltage.hpp:317
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: DifferentialMotionMagicVoltage.hpp:402
DifferentialMotionMagicVoltage(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: DifferentialMotionMagicVoltage.hpp:188
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