13#include <units/angular_velocity.h>
14#include <units/angular_acceleration.h>
15#include <units/dimensionless.h>
16#include <units/frequency.h>
17#include <units/time.h>
32 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
34 if (req.get() !=
this)
37 if (reqCast !=
nullptr)
43 req = std::make_shared<VelocityDutyCycle>(*
this);
47 return c_ctre_phoenix6_RequestControlVelocityDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(),
Velocity.to<
double>(),
Acceleration.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
54 units::angular_velocity::turns_per_second_t
Velocity;
59 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
270 Slot = std::move(newSlot);
369 std::stringstream ss;
370 ss <<
"Control: VelocityDutyCycle" << std::endl;
371 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << std::endl;
372 ss <<
" Acceleration: " <<
Acceleration.to<
double>() <<
" rotations per second²" << std::endl;
373 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
374 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" fractional" << std::endl;
375 ss <<
" Slot: " <<
Slot << std::endl;
379 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
390 std::map<std::string, std::string> controlInfo;
391 std::stringstream ss;
392 controlInfo[
"Name"] =
GetName();
393 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
394 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
395 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
396 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
397 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
399 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
400 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
401 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlVelocityDutyCycle(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
Request PID to target velocity with duty cycle feedforward.
Definition: VelocityDutyCycle.hpp:31
VelocityDutyCycle(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::dimensionless::scalar_t FeedForward=0.0, int Slot=0, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false, bool UseTimesync=false)
Request PID to target velocity with duty cycle feedforward.
Definition: VelocityDutyCycle.hpp:175
int Slot
Select which gains are applied by selecting the slot.
Definition: VelocityDutyCycle.hpp:82
VelocityDutyCycle & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: VelocityDutyCycle.hpp:268
units::angular_acceleration::turns_per_second_squared_t Acceleration
Acceleration to drive toward in rotations per second squared.
Definition: VelocityDutyCycle.hpp:59
VelocityDutyCycle & 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: VelocityDutyCycle.hpp:196
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: VelocityDutyCycle.hpp:89
VelocityDutyCycle & WithFeedForward(units::dimensionless::scalar_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: VelocityDutyCycle.hpp:251
VelocityDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: VelocityDutyCycle.hpp:303
VelocityDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: VelocityDutyCycle.hpp:357
VelocityDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: VelocityDutyCycle.hpp:236
VelocityDutyCycle & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: VelocityDutyCycle.hpp:338
units::angular_velocity::turns_per_second_t Velocity
Velocity to drive toward in rotations per second.
Definition: VelocityDutyCycle.hpp:54
VelocityDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: VelocityDutyCycle.hpp:286
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: VelocityDutyCycle.hpp:388
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: VelocityDutyCycle.hpp:121
VelocityDutyCycle & 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: VelocityDutyCycle.hpp:212
units::dimensionless::scalar_t FeedForward
Feedforward to apply in fractional units between -1 and +1.
Definition: VelocityDutyCycle.hpp:76
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: VelocityDutyCycle.hpp:72
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: VelocityDutyCycle.hpp:101
VelocityDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: VelocityDutyCycle.hpp:320
std::string ToString() const override
Returns a string representation of the object.
Definition: VelocityDutyCycle.hpp:367
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: VelocityDutyCycle.hpp:108
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: VelocityDutyCycle.hpp:95
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