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>
44 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
46 if (req.get() !=
this)
49 if (reqCast !=
nullptr)
55 req = std::make_shared<MotionMagicVelocityTorqueCurrentFOC>(*
this);
59 return c_ctre_phoenix6_RequestControlMotionMagicVelocityTorqueCurrentFOC(network, deviceHash,
UpdateFreqHz.to<
double>(),
Velocity.to<
double>(),
Acceleration.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideCoastDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
67 units::angular_velocity::turns_per_second_t
Velocity;
74 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
310 Slot = std::move(newSlot);
409 std::stringstream ss;
410 ss <<
"Control: MotionMagicVelocityTorqueCurrentFOC" << std::endl;
411 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << std::endl;
412 ss <<
" Acceleration: " <<
Acceleration.to<
double>() <<
" rotations per second²" << std::endl;
413 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
414 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" A" << std::endl;
415 ss <<
" Slot: " <<
Slot << std::endl;
419 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
430 std::map<std::string, std::string> controlInfo;
431 std::stringstream ss;
432 controlInfo[
"Name"] =
GetName();
433 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
434 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
435 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
436 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
437 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
439 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
440 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
441 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicVelocityTorqueCurrentFOC(const char *canbus, uint32_t ecuEncoding, double updateTime, double Velocity, double Acceleration, bool EnableFOC, 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
Requests Motion Magic® to target a final velocity using a motion profile.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:43
MotionMagicVelocityTorqueCurrentFOC & WithFeedForward(units::current::ampere_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:291
MotionMagicVelocityTorqueCurrentFOC(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::current::ampere_t FeedForward=0.0_A, int Slot=0, bool OverrideCoastDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false, bool UseTimesync=false)
Requests Motion Magic® to target a final velocity using a motion profile.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:211
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:98
MotionMagicVelocityTorqueCurrentFOC & WithOverrideCoastDurNeutral(bool newOverrideCoastDurNeutral)
Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:326
MotionMagicVelocityTorqueCurrentFOC & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:275
units::current::ampere_t FeedForward
Feedforward to apply in torque current in Amperes.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:92
MotionMagicVelocityTorqueCurrentFOC & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:397
MotionMagicVelocityTorqueCurrentFOC & 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: MotionMagicVelocityTorqueCurrentFOC.hpp:233
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:124
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:428
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:111
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:117
MotionMagicVelocityTorqueCurrentFOC & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:343
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:137
bool OverrideCoastDurNeutral
Set to true to coast the rotor when output is zero (or within deadband).
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:105
MotionMagicVelocityTorqueCurrentFOC & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:308
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:407
MotionMagicVelocityTorqueCurrentFOC & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:360
units::angular_acceleration::turns_per_second_squared_t Acceleration
This is the absolute Acceleration to use generating the profile.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:74
MotionMagicVelocityTorqueCurrentFOC & 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: MotionMagicVelocityTorqueCurrentFOC.hpp:251
MotionMagicVelocityTorqueCurrentFOC & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:378
units::angular_velocity::turns_per_second_t Velocity
Target velocity to drive toward in rotations per second.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:67
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: MotionMagicVelocityTorqueCurrentFOC.hpp:87
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