13#include <units/voltage.h>
14#include <units/angle.h>
15#include <units/frequency.h>
16#include <units/time.h>
32 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
34 if (req.get() !=
this)
37 if (reqCast !=
nullptr)
43 req = std::make_shared<DifferentialVoltage>(*
this);
47 return c_ctre_phoenix6_RequestControlDifferentialVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
TargetOutput.to<
double>(),
DifferentialPosition.to<
double>(),
EnableFOC,
DifferentialSlot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
348 std::stringstream ss;
349 ss <<
"Control: DifferentialVoltage" << std::endl;
350 ss <<
" TargetOutput: " <<
TargetOutput.to<
double>() <<
" Volts" << std::endl;
351 ss <<
" DifferentialPosition: " <<
DifferentialPosition.to<
double>() <<
" rotations" << std::endl;
352 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
357 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
368 std::map<std::string, std::string> controlInfo;
369 std::stringstream ss;
370 controlInfo[
"Name"] =
GetName();
371 ss <<
TargetOutput.to<
double>(); controlInfo[
"TargetOutput"] = ss.str(); ss.str(std::string{});
372 ss <<
DifferentialPosition.to<
double>(); controlInfo[
"DifferentialPosition"] = ss.str(); ss.str(std::string{});
373 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
374 ss <<
DifferentialSlot; controlInfo[
"DifferentialSlot"] = ss.str(); ss.str(std::string{});
376 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
377 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
378 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDifferentialVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, double TargetOutput, double DifferentialPosition, bool EnableFOC, 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
Request a specified voltage with a differential position closed-loop.
Definition: DifferentialVoltage.hpp:31
DifferentialVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: DifferentialVoltage.hpp:230
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: DifferentialVoltage.hpp:103
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: DifferentialVoltage.hpp:71
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: DifferentialVoltage.hpp:90
DifferentialVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: DifferentialVoltage.hpp:282
units::angle::turn_t DifferentialPosition
Differential position to drive towards in rotations.
Definition: DifferentialVoltage.hpp:58
DifferentialVoltage & WithDifferentialPosition(units::angle::turn_t newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining...
Definition: DifferentialVoltage.hpp:206
int DifferentialSlot
Select which gains are applied to the differential controller by selecting the slot.
Definition: DifferentialVoltage.hpp:77
DifferentialVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: DifferentialVoltage.hpp:317
DifferentialVoltage(units::voltage::volt_t TargetOutput, units::angle::turn_t DifferentialPosition, bool EnableFOC=true, int DifferentialSlot=1, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false, bool UseTimesync=false)
Request a specified voltage with a differential position closed-loop.
Definition: DifferentialVoltage.hpp:171
DifferentialVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: DifferentialVoltage.hpp:299
DifferentialVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: DifferentialVoltage.hpp:336
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: DifferentialVoltage.hpp:116
DifferentialVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: DifferentialVoltage.hpp:265
DifferentialVoltage & WithDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and...
Definition: DifferentialVoltage.hpp:247
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: DifferentialVoltage.hpp:96
std::string ToString() const override
Returns a string representation of the object.
Definition: DifferentialVoltage.hpp:346
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: DifferentialVoltage.hpp:366
units::voltage::volt_t TargetOutput
Voltage to attempt to drive at.
Definition: DifferentialVoltage.hpp:54
DifferentialVoltage & WithTargetOutput(units::voltage::volt_t newTargetOutput)
Modifies this Control Request's TargetOutput parameter and returns itself for method-chaining and eas...
Definition: DifferentialVoltage.hpp:191
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: DifferentialVoltage.hpp:84
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