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/voltage.h>
18#include <units/frequency.h>
19#include <units/time.h>
41 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
43 if (req.get() !=
this)
46 if (reqCast !=
nullptr)
52 req = std::make_shared<DynamicMotionMagicVoltage>(*
this);
56 return c_ctre_phoenix6_RequestControlDynamicMotionMagicVoltage(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);
68 units::angular_velocity::turns_per_second_t
Velocity;
73 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
78 units::angular_jerk::turns_per_second_cubed_t
Jerk;
207 DynamicMotionMagicVoltage(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::voltage::volt_t
FeedForward = 0.0_V,
int Slot = 0,
bool OverrideBrakeDurNeutral =
false,
bool LimitForwardMotion =
false,
bool LimitReverseMotion =
false,
bool UseTimesync =
false) :
ControlRequest{
"DynamicMotionMagicVoltage"},
280 Jerk = std::move(newJerk);
336 Slot = std::move(newSlot);
435 std::stringstream ss;
436 ss <<
"Control: DynamicMotionMagicVoltage" << std::endl;
437 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
438 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << std::endl;
439 ss <<
" Acceleration: " <<
Acceleration.to<
double>() <<
" rotations per second²" << std::endl;
440 ss <<
" Jerk: " <<
Jerk.to<
double>() <<
" rotations per second³" << std::endl;
441 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
442 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" Volts" << std::endl;
443 ss <<
" Slot: " <<
Slot << std::endl;
447 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
458 std::map<std::string, std::string> controlInfo;
459 std::stringstream ss;
460 controlInfo[
"Name"] =
GetName();
461 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
462 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
463 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
464 ss <<
Jerk.to<
double>(); controlInfo[
"Jerk"] = ss.str(); ss.str(std::string{});
465 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
466 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
467 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
469 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
470 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
471 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDynamicMotionMagicVoltage(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: DynamicMotionMagicVoltage.hpp:40
units::angular_acceleration::turns_per_second_squared_t Acceleration
Acceleration for profiling.
Definition: DynamicMotionMagicVoltage.hpp:73
DynamicMotionMagicVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: DynamicMotionMagicVoltage.hpp:302
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition: DynamicMotionMagicVoltage.hpp:95
DynamicMotionMagicVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: DynamicMotionMagicVoltage.hpp:369
DynamicMotionMagicVoltage & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: DynamicMotionMagicVoltage.hpp:230
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: DynamicMotionMagicVoltage.hpp:120
DynamicMotionMagicVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: DynamicMotionMagicVoltage.hpp:386
units::angular_jerk::turns_per_second_cubed_t Jerk
Jerk for profiling.
Definition: DynamicMotionMagicVoltage.hpp:78
DynamicMotionMagicVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: DynamicMotionMagicVoltage.hpp:352
std::string ToString() const override
Returns a string representation of the object.
Definition: DynamicMotionMagicVoltage.hpp:433
DynamicMotionMagicVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: DynamicMotionMagicVoltage.hpp:404
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: DynamicMotionMagicVoltage.hpp:140
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: DynamicMotionMagicVoltage.hpp:108
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: DynamicMotionMagicVoltage.hpp:91
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: DynamicMotionMagicVoltage.hpp:114
DynamicMotionMagicVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: DynamicMotionMagicVoltage.hpp:317
DynamicMotionMagicVoltage & 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: DynamicMotionMagicVoltage.hpp:262
DynamicMotionMagicVoltage & 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: DynamicMotionMagicVoltage.hpp:278
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: DynamicMotionMagicVoltage.hpp:127
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: DynamicMotionMagicVoltage.hpp:63
DynamicMotionMagicVoltage(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::voltage::volt_t FeedForward=0.0_V, 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: DynamicMotionMagicVoltage.hpp:207
DynamicMotionMagicVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: DynamicMotionMagicVoltage.hpp:423
int Slot
Select which gains are applied by selecting the slot.
Definition: DynamicMotionMagicVoltage.hpp:101
DynamicMotionMagicVoltage & 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: DynamicMotionMagicVoltage.hpp:246
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: DynamicMotionMagicVoltage.hpp:456
DynamicMotionMagicVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: DynamicMotionMagicVoltage.hpp:334
units::angular_velocity::turns_per_second_t Velocity
Cruise velocity for profiling.
Definition: DynamicMotionMagicVoltage.hpp:68
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