13#include <units/angle.h>
14#include <units/voltage.h>
15#include <units/frequency.h>
16#include <units/time.h>
39 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
41 if (req.get() !=
this)
44 if (reqCast !=
nullptr)
50 req = std::make_shared<MotionMagicExpoVoltage>(*
this);
54 return c_ctre_phoenix6_RequestControlMotionMagicExpoVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
Position.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
262 Slot = std::move(newSlot);
361 std::stringstream ss;
362 ss <<
"Control: MotionMagicExpoVoltage" << std::endl;
363 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
364 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
365 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" Volts" << std::endl;
366 ss <<
" Slot: " <<
Slot << std::endl;
370 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
381 std::map<std::string, std::string> controlInfo;
382 std::stringstream ss;
383 controlInfo[
"Name"] =
GetName();
384 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
385 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
386 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
387 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
389 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
390 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
391 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicExpoVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, double Position, 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 position using an exponential motion profile.
Definition: MotionMagicExpoVoltage.hpp:38
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicExpoVoltage.hpp:359
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicExpoVoltage.hpp:123
MotionMagicExpoVoltage & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: MotionMagicExpoVoltage.hpp:204
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: MotionMagicExpoVoltage.hpp:74
MotionMagicExpoVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicExpoVoltage.hpp:295
MotionMagicExpoVoltage(units::angle::turn_t Position, bool EnableFOC=true, units::voltage::volt_t FeedForward=0.0_V, int Slot=0, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false, bool UseTimesync=false)
Requests Motion Magic® to target a final position using an exponential motion profile.
Definition: MotionMagicExpoVoltage.hpp:184
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicExpoVoltage.hpp:84
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicExpoVoltage.hpp:103
MotionMagicExpoVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: MotionMagicExpoVoltage.hpp:330
MotionMagicExpoVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicExpoVoltage.hpp:260
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: MotionMagicExpoVoltage.hpp:91
MotionMagicExpoVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicExpoVoltage.hpp:312
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: MotionMagicExpoVoltage.hpp:379
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: MotionMagicExpoVoltage.hpp:110
MotionMagicExpoVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicExpoVoltage.hpp:243
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: MotionMagicExpoVoltage.hpp:61
MotionMagicExpoVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicExpoVoltage.hpp:278
MotionMagicExpoVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicExpoVoltage.hpp:349
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition: MotionMagicExpoVoltage.hpp:78
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicExpoVoltage.hpp:97
MotionMagicExpoVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: MotionMagicExpoVoltage.hpp:228
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