13#include <units/angle.h>
14#include <units/angular_velocity.h>
15#include <units/current.h>
16#include <units/frequency.h>
17#include <units/time.h>
33 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
35 if (req.get() !=
this)
38 if (reqCast !=
nullptr)
44 req = std::make_shared<PositionTorqueCurrentFOC>(*
this);
48 return c_ctre_phoenix6_RequestControlPositionTorqueCurrentFOC(network, deviceHash,
UpdateFreqHz.to<
double>(),
Position.to<
double>(),
Velocity.to<
double>(),
FeedForward.to<
double>(),
Slot,
OverrideCoastDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
60 units::angular_velocity::turns_per_second_t
Velocity;
224 Slot = std::move(newSlot);
323 std::stringstream ss;
324 ss <<
"Control: PositionTorqueCurrentFOC" << std::endl;
325 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
326 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << std::endl;
327 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" A" << std::endl;
328 ss <<
" Slot: " <<
Slot << std::endl;
332 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
343 std::map<std::string, std::string> controlInfo;
344 std::stringstream ss;
345 controlInfo[
"Name"] =
GetName();
346 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
347 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
348 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
349 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
351 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
352 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
353 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlPositionTorqueCurrentFOC(const char *canbus, uint32_t ecuEncoding, double updateTime, double Position, double Velocity, 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
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
PositionTorqueCurrentFOC & WithOverrideCoastDurNeutral(bool newOverrideCoastDurNeutral)
Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chain...
Definition: PositionTorqueCurrentFOC.hpp:240
PositionTorqueCurrentFOC & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: PositionTorqueCurrentFOC.hpp:222
PositionTorqueCurrentFOC & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: PositionTorqueCurrentFOC.hpp:274
std::string ToString() const override
Returns a string representation of the object.
Definition: PositionTorqueCurrentFOC.hpp:321
PositionTorqueCurrentFOC & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: PositionTorqueCurrentFOC.hpp:173
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: PositionTorqueCurrentFOC.hpp:55
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: PositionTorqueCurrentFOC.hpp:110
PositionTorqueCurrentFOC & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: PositionTorqueCurrentFOC.hpp:292
units::current::ampere_t FeedForward
Feedforward to apply in torque current in Amperes.
Definition: PositionTorqueCurrentFOC.hpp:65
PositionTorqueCurrentFOC & 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: PositionTorqueCurrentFOC.hpp:189
PositionTorqueCurrentFOC(units::angle::turn_t Position, units::angular_velocity::turns_per_second_t Velocity=0.0_tps, units::current::ampere_t FeedForward=0.0_A, int Slot=0, bool OverrideCoastDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false, bool UseTimesync=false)
Requires Phoenix Pro; Request PID to target position with torque current feedforward.
Definition: PositionTorqueCurrentFOC.hpp:153
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: PositionTorqueCurrentFOC.hpp:90
PositionTorqueCurrentFOC & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: PositionTorqueCurrentFOC.hpp:311
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: PositionTorqueCurrentFOC.hpp:84
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: PositionTorqueCurrentFOC.hpp:341
PositionTorqueCurrentFOC & WithFeedForward(units::current::ampere_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: PositionTorqueCurrentFOC.hpp:205
PositionTorqueCurrentFOC & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: PositionTorqueCurrentFOC.hpp:257
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