13#include <units/angle.h>
14#include <units/frequency.h>
15#include <units/time.h>
30 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
32 if (req.get() !=
this)
35 if (reqCast !=
nullptr)
41 req = std::make_shared<DifferentialPositionDutyCycle>(*
this);
45 return c_ctre_phoenix6_RequestControlDifferentialPositionDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(),
TargetPosition.to<
double>(),
DifferentialPosition.to<
double>(),
EnableFOC,
TargetSlot,
DifferentialSlot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
372 std::stringstream ss;
373 ss <<
"Control: DifferentialPositionDutyCycle" << std::endl;
374 ss <<
" TargetPosition: " <<
TargetPosition.to<
double>() <<
" rotations" << std::endl;
375 ss <<
" DifferentialPosition: " <<
DifferentialPosition.to<
double>() <<
" rotations" << std::endl;
376 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
377 ss <<
" TargetSlot: " <<
TargetSlot << std::endl;
382 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
393 std::map<std::string, std::string> controlInfo;
394 std::stringstream ss;
395 controlInfo[
"Name"] =
GetName();
396 ss <<
TargetPosition.to<
double>(); controlInfo[
"TargetPosition"] = ss.str(); ss.str(std::string{});
397 ss <<
DifferentialPosition.to<
double>(); controlInfo[
"DifferentialPosition"] = ss.str(); ss.str(std::string{});
398 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
399 ss <<
TargetSlot; controlInfo[
"TargetSlot"] = ss.str(); ss.str(std::string{});
400 ss <<
DifferentialSlot; controlInfo[
"DifferentialSlot"] = ss.str(); ss.str(std::string{});
402 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
403 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
404 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDifferentialPositionDutyCycle(const char *canbus, uint32_t ecuEncoding, double updateTime, double TargetPosition, double DifferentialPosition, bool EnableFOC, int TargetSlot, int DifferentialSlot, 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 position with a differential position setpoint.
Definition: DifferentialPositionDutyCycle.hpp:29
int TargetSlot
Select which gains are applied to the primary controller by selecting the slot.
Definition: DifferentialPositionDutyCycle.hpp:75
int DifferentialSlot
Select which gains are applied to the differential controller by selecting the slot.
Definition: DifferentialPositionDutyCycle.hpp:81
units::angle::turn_t DifferentialPosition
Differential position to drive toward in rotations.
Definition: DifferentialPositionDutyCycle.hpp:56
DifferentialPositionDutyCycle & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: DifferentialPositionDutyCycle.hpp:341
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: DifferentialPositionDutyCycle.hpp:100
DifferentialPositionDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: DifferentialPositionDutyCycle.hpp:360
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: DifferentialPositionDutyCycle.hpp:391
DifferentialPositionDutyCycle & WithDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and...
Definition: DifferentialPositionDutyCycle.hpp:271
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: DifferentialPositionDutyCycle.hpp:120
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: DifferentialPositionDutyCycle.hpp:107
DifferentialPositionDutyCycle & WithDifferentialPosition(units::angle::turn_t newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining...
Definition: DifferentialPositionDutyCycle.hpp:213
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: DifferentialPositionDutyCycle.hpp:69
DifferentialPositionDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: DifferentialPositionDutyCycle.hpp:237
DifferentialPositionDutyCycle & WithTargetSlot(int newTargetSlot)
Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easie...
Definition: DifferentialPositionDutyCycle.hpp:254
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: DifferentialPositionDutyCycle.hpp:94
DifferentialPositionDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: DifferentialPositionDutyCycle.hpp:289
DifferentialPositionDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: DifferentialPositionDutyCycle.hpp:323
DifferentialPositionDutyCycle(units::angle::turn_t TargetPosition, units::angle::turn_t DifferentialPosition, bool EnableFOC=true, int TargetSlot=0, int DifferentialSlot=1, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false, bool UseTimesync=false)
Request PID to target position with a differential position setpoint.
Definition: DifferentialPositionDutyCycle.hpp:177
DifferentialPositionDutyCycle & WithTargetPosition(units::angle::turn_t newTargetPosition)
Modifies this Control Request's TargetPosition parameter and returns itself for method-chaining and e...
Definition: DifferentialPositionDutyCycle.hpp:198
units::angle::turn_t TargetPosition
Average position to drive toward in rotations.
Definition: DifferentialPositionDutyCycle.hpp:52
std::string ToString() const override
Returns a string representation of the object.
Definition: DifferentialPositionDutyCycle.hpp:370
DifferentialPositionDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: DifferentialPositionDutyCycle.hpp:306
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: DifferentialPositionDutyCycle.hpp:88
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