15#include <units/frequency.h>
16#include <units/time.h>
30class Diff_MotionMagicTorqueCurrentFOC_Position :
public ControlRequest
32 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
34 if (req.get() !=
this)
36 auto const reqCast =
dynamic_cast<Diff_MotionMagicTorqueCurrentFOC_Position *
>(req.get());
37 if (reqCast !=
nullptr)
43 req = std::make_shared<Diff_MotionMagicTorqueCurrentFOC_Position>(*
this);
47 return c_ctre_phoenix6_RequestControlDiff_MotionMagicTorqueCurrentFOC_Position(network, deviceHash, UpdateFreqHz.to<
double>(), AverageRequest.Position.to<
double>(), AverageRequest.FeedForward.to<
double>(), AverageRequest.Slot, AverageRequest.OverrideCoastDurNeutral, AverageRequest.LimitForwardMotion, AverageRequest.LimitReverseMotion, AverageRequest.UseTimesync, DifferentialRequest.Position.to<
double>(), DifferentialRequest.Velocity.to<
double>(), DifferentialRequest.FeedForward.to<
double>(), DifferentialRequest.Slot, DifferentialRequest.OverrideCoastDurNeutral, DifferentialRequest.LimitForwardMotion, DifferentialRequest.LimitReverseMotion, DifferentialRequest.UseTimesync);
71 units::frequency::hertz_t UpdateFreqHz{100_Hz};
84 AverageRequest{std::move(AverageRequest)},
85 DifferentialRequest{std::move(DifferentialRequest)}
99 AverageRequest = std::move(newAverageRequest);
114 DifferentialRequest = std::move(newDifferentialRequest);
131 Diff_MotionMagicTorqueCurrentFOC_Position &WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
133 UpdateFreqHz = newUpdateFreqHz;
141 std::string ToString()
const override
143 std::stringstream ss;
144 ss <<
"Control: Diff_MotionMagicTorqueCurrentFOC_Position" << std::endl;
145 ss <<
"AverageRequest:" << std::endl;
146 ss <<
" Position: " << AverageRequest.
Position.to<
double>() << std::endl;
147 ss <<
" FeedForward: " << AverageRequest.
FeedForward.to<
double>() << std::endl;
148 ss <<
" Slot: " << AverageRequest.
Slot << std::endl;
152 ss <<
" UseTimesync: " << AverageRequest.
UseTimesync << std::endl;
153 ss <<
"DifferentialRequest:" << std::endl;
154 ss <<
" Position: " << DifferentialRequest.
Position.to<
double>() << std::endl;
155 ss <<
" Velocity: " << DifferentialRequest.
Velocity.to<
double>() << std::endl;
156 ss <<
" FeedForward: " << DifferentialRequest.
FeedForward.to<
double>() << std::endl;
157 ss <<
" Slot: " << DifferentialRequest.
Slot << std::endl;
161 ss <<
" UseTimesync: " << DifferentialRequest.
UseTimesync << std::endl;
170 std::map<std::string, std::string> GetControlInfo()
const override
172 std::map<std::string, std::string> controlInfo;
173 std::stringstream ss;
174 controlInfo[
"Name"] = GetName();
175 ss << AverageRequest.
ToString(); controlInfo[
"AverageRequest"] = ss.str(); ss.str(std::string{});
176 ss << DifferentialRequest.
ToString(); controlInfo[
"DifferentialRequest"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDiff_MotionMagicTorqueCurrentFOC_Position(const char *canbus, uint32_t ecuEncoding, double updateTime, double AverageRequest_Position, double AverageRequest_FeedForward, int AverageRequest_Slot, bool AverageRequest_OverrideCoastDurNeutral, bool AverageRequest_LimitForwardMotion, bool AverageRequest_LimitReverseMotion, bool AverageRequest_UseTimesync, double DifferentialRequest_Position, double DifferentialRequest_Velocity, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, bool DifferentialRequest_OverrideCoastDurNeutral, bool DifferentialRequest_LimitForwardMotion, bool DifferentialRequest_LimitReverseMotion, bool DifferentialRequest_UseTimesync)
Abstract Control Request class that other control requests extend for use.
Definition: ControlRequest.hpp:29
Requires Phoenix Pro; Requests Motion Magic® to target a final position using a motion profile.
Definition: MotionMagicTorqueCurrentFOC.hpp:36
units::current::ampere_t FeedForward
Feedforward to apply in torque current in Amperes.
Definition: MotionMagicTorqueCurrentFOC.hpp:64
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: MotionMagicTorqueCurrentFOC.hpp:59
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: MotionMagicTorqueCurrentFOC.hpp:96
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicTorqueCurrentFOC.hpp:70
bool OverrideCoastDurNeutral
Set to true to coast the rotor when output is zero (or within deadband).
Definition: MotionMagicTorqueCurrentFOC.hpp:77
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicTorqueCurrentFOC.hpp:89
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicTorqueCurrentFOC.hpp:307
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicTorqueCurrentFOC.hpp:83
Requires Phoenix Pro; Request PID to target position with torque current feedforward.
Definition: PositionTorqueCurrentFOC.hpp:32
int Slot
Select which gains are applied by selecting the slot.
Definition: PositionTorqueCurrentFOC.hpp:71
units::angular_velocity::turns_per_second_t Velocity
Velocity to drive toward in rotations per second.
Definition: PositionTorqueCurrentFOC.hpp:60
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: PositionTorqueCurrentFOC.hpp:97
std::string ToString() const override
Returns a string representation of the object.
Definition: PositionTorqueCurrentFOC.hpp:321
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: PositionTorqueCurrentFOC.hpp:55
units::current::ampere_t FeedForward
Feedforward to apply in torque current in Amperes.
Definition: PositionTorqueCurrentFOC.hpp:65
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: PositionTorqueCurrentFOC.hpp:90
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: PositionTorqueCurrentFOC.hpp:84
bool OverrideCoastDurNeutral
Set to true to coast the rotor when output is zero (or within deadband).
Definition: PositionTorqueCurrentFOC.hpp:78
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