13#include <units/angular_velocity.h>
14#include <units/angular_acceleration.h>
15#include <units/voltage.h>
16#include <units/frequency.h>
17#include <units/time.h>
43 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
45 if (req.get() !=
this)
48 if (reqCast !=
nullptr)
54 req = std::make_shared<MotionMagicVelocityVoltage>(*
this);
58 return c_ctre_phoenix6_RequestControlMotionMagicVelocityVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
Velocity.to<
double>(),
Acceleration.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
66 units::angular_velocity::turns_per_second_t
Velocity;
73 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
305 Slot = std::move(newSlot);
404 std::stringstream ss;
405 ss <<
"Control: MotionMagicVelocityVoltage" << std::endl;
406 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << std::endl;
407 ss <<
" Acceleration: " <<
Acceleration.to<
double>() <<
" rotations per second²" << std::endl;
408 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
409 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" Volts" << std::endl;
410 ss <<
" Slot: " <<
Slot << std::endl;
414 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
425 std::map<std::string, std::string> controlInfo;
426 std::stringstream ss;
427 controlInfo[
"Name"] =
GetName();
428 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
429 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
430 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
431 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
432 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
434 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
435 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
436 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicVelocityVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, double Velocity, double Acceleration, 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 velocity using a motion profile.
Definition: MotionMagicVelocityVoltage.hpp:42
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: MotionMagicVelocityVoltage.hpp:103
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicVelocityVoltage.hpp:109
MotionMagicVelocityVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicVelocityVoltage.hpp:303
MotionMagicVelocityVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVelocityVoltage.hpp:338
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicVelocityVoltage.hpp:402
MotionMagicVelocityVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicVelocityVoltage.hpp:392
MotionMagicVelocityVoltage & 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: MotionMagicVelocityVoltage.hpp:247
MotionMagicVelocityVoltage(units::angular_velocity::turns_per_second_t Velocity, units::angular_acceleration::turns_per_second_squared_t Acceleration=0.0_tr_per_s_sq, 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 velocity using a motion profile.
Definition: MotionMagicVelocityVoltage.hpp:207
MotionMagicVelocityVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: MotionMagicVelocityVoltage.hpp:373
MotionMagicVelocityVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVelocityVoltage.hpp:355
units::angular_velocity::turns_per_second_t Velocity
Target velocity to drive toward in rotations per second.
Definition: MotionMagicVelocityVoltage.hpp:66
MotionMagicVelocityVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicVelocityVoltage.hpp:321
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicVelocityVoltage.hpp:96
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicVelocityVoltage.hpp:135
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: MotionMagicVelocityVoltage.hpp:86
MotionMagicVelocityVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: MotionMagicVelocityVoltage.hpp:271
units::angular_acceleration::turns_per_second_squared_t Acceleration
This is the absolute Acceleration to use generating the profile.
Definition: MotionMagicVelocityVoltage.hpp:73
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: MotionMagicVelocityVoltage.hpp:122
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicVelocityVoltage.hpp:115
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition: MotionMagicVelocityVoltage.hpp:90
MotionMagicVelocityVoltage & 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: MotionMagicVelocityVoltage.hpp:229
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: MotionMagicVelocityVoltage.hpp:423
MotionMagicVelocityVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicVelocityVoltage.hpp:286
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