13#include <units/angle.h>
14#include <units/voltage.h>
15#include <units/frequency.h>
16#include <units/time.h>
36 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
38 if (req.get() !=
this)
41 if (reqCast !=
nullptr)
47 req = std::make_shared<MotionMagicVoltage>(*
this);
51 return c_ctre_phoenix6_RequestControlMotionMagicVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
Position.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
254 Slot = std::move(newSlot);
353 std::stringstream ss;
354 ss <<
"Control: MotionMagicVoltage" << std::endl;
355 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
356 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
357 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" Volts" << std::endl;
358 ss <<
" Slot: " <<
Slot << std::endl;
362 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
373 std::map<std::string, std::string> controlInfo;
374 std::stringstream ss;
375 controlInfo[
"Name"] =
GetName();
376 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
377 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
378 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
379 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
381 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
382 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
383 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicVoltage(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 a motion profile.
Definition: MotionMagicVoltage.hpp:35
MotionMagicVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: MotionMagicVoltage.hpp:322
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: MotionMagicVoltage.hpp:107
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: MotionMagicVoltage.hpp:71
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: MotionMagicVoltage.hpp:371
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicVoltage.hpp:351
MotionMagicVoltage(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 a motion profile.
Definition: MotionMagicVoltage.hpp:176
MotionMagicVoltage & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: MotionMagicVoltage.hpp:196
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicVoltage.hpp:100
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition: MotionMagicVoltage.hpp:75
MotionMagicVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: MotionMagicVoltage.hpp:220
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicVoltage.hpp:120
MotionMagicVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVoltage.hpp:287
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: MotionMagicVoltage.hpp:88
MotionMagicVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicVoltage.hpp:270
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: MotionMagicVoltage.hpp:58
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicVoltage.hpp:94
MotionMagicVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVoltage.hpp:304
MotionMagicVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicVoltage.hpp:252
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicVoltage.hpp:81
MotionMagicVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicVoltage.hpp:235
MotionMagicVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicVoltage.hpp:341
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