13#include <units/angular_velocity.h>
14#include <units/angular_acceleration.h>
15#include <units/current.h>
16#include <units/frequency.h>
17#include <units/time.h>
33 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
35 if (req.get() !=
this)
38 if (reqCast !=
nullptr)
44 req = std::make_shared<VelocityTorqueCurrentFOC>(*
this);
48 return c_ctre_phoenix6_RequestControlVelocityTorqueCurrentFOC(network, deviceHash,
UpdateFreqHz.to<
double>(),
Velocity.to<
double>(),
Acceleration.to<
double>(),
FeedForward.to<
double>(),
Slot,
OverrideCoastDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
55 units::angular_velocity::turns_per_second_t
Velocity;
60 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
224 Slot = std::move(newSlot);
323 std::stringstream ss;
324 ss <<
"Control: VelocityTorqueCurrentFOC" << std::endl;
325 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << std::endl;
326 ss <<
" Acceleration: " <<
Acceleration.to<
double>() <<
" rotations per second²" << std::endl;
327 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" A" << std::endl;
328 ss <<
" Slot: " <<
Slot << std::endl;
332 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
343 std::map<std::string, std::string> controlInfo;
344 std::stringstream ss;
345 controlInfo[
"Name"] =
GetName();
346 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
347 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
348 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
349 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
351 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
352 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
353 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlVelocityTorqueCurrentFOC(const char *canbus, uint32_t ecuEncoding, double updateTime, double Velocity, double Acceleration, double FeedForward, int Slot, bool OverrideCoastDurNeutral, 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; Request PID to target velocity with torque current feedforward.
Definition: VelocityTorqueCurrentFOC.hpp:32
units::angular_acceleration::turns_per_second_squared_t Acceleration
Acceleration to drive toward in rotations per second squared.
Definition: VelocityTorqueCurrentFOC.hpp:60
VelocityTorqueCurrentFOC & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: VelocityTorqueCurrentFOC.hpp:292
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: VelocityTorqueCurrentFOC.hpp:341
VelocityTorqueCurrentFOC & WithOverrideCoastDurNeutral(bool newOverrideCoastDurNeutral)
Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chain...
Definition: VelocityTorqueCurrentFOC.hpp:240
bool OverrideCoastDurNeutral
Set to true to coast the rotor when output is zero (or within deadband).
Definition: VelocityTorqueCurrentFOC.hpp:78
units::angular_velocity::turns_per_second_t Velocity
Velocity to drive toward in rotations per second.
Definition: VelocityTorqueCurrentFOC.hpp:55
units::current::ampere_t FeedForward
Feedforward to apply in torque current in Amperes.
Definition: VelocityTorqueCurrentFOC.hpp:65
VelocityTorqueCurrentFOC & 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: VelocityTorqueCurrentFOC.hpp:173
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: VelocityTorqueCurrentFOC.hpp:110
VelocityTorqueCurrentFOC & WithFeedForward(units::current::ampere_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: VelocityTorqueCurrentFOC.hpp:205
VelocityTorqueCurrentFOC & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: VelocityTorqueCurrentFOC.hpp:222
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: VelocityTorqueCurrentFOC.hpp:97
VelocityTorqueCurrentFOC & 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: VelocityTorqueCurrentFOC.hpp:189
int Slot
Select which gains are applied by selecting the slot.
Definition: VelocityTorqueCurrentFOC.hpp:71
VelocityTorqueCurrentFOC & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: VelocityTorqueCurrentFOC.hpp:257
std::string ToString() const override
Returns a string representation of the object.
Definition: VelocityTorqueCurrentFOC.hpp:321
VelocityTorqueCurrentFOC & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: VelocityTorqueCurrentFOC.hpp:274
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: VelocityTorqueCurrentFOC.hpp:90
VelocityTorqueCurrentFOC(units::angular_velocity::turns_per_second_t Velocity, units::angular_acceleration::turns_per_second_squared_t Acceleration=0.0_tr_per_s_sq, units::current::ampere_t FeedForward=0.0_A, int Slot=0, bool OverrideCoastDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false, bool UseTimesync=false)
Requires Phoenix Pro; Request PID to target velocity with torque current feedforward.
Definition: VelocityTorqueCurrentFOC.hpp:153
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: VelocityTorqueCurrentFOC.hpp:84
VelocityTorqueCurrentFOC & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: VelocityTorqueCurrentFOC.hpp:311
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