13#include <units/angle.h>
14#include <units/dimensionless.h>
15#include <units/frequency.h>
16#include <units/time.h>
37 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
39 if (req.get() !=
this)
42 if (reqCast !=
nullptr)
48 req = std::make_shared<MotionMagicDutyCycle>(*
this);
52 return c_ctre_phoenix6_RequestControlMotionMagicDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(),
Position.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
257 Slot = std::move(newSlot);
356 std::stringstream ss;
357 ss <<
"Control: MotionMagicDutyCycle" << std::endl;
358 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
359 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
360 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" fractional" << std::endl;
361 ss <<
" Slot: " <<
Slot << std::endl;
365 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
376 std::map<std::string, std::string> controlInfo;
377 std::stringstream ss;
378 controlInfo[
"Name"] =
GetName();
379 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
380 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
381 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
382 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
384 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
385 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
386 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicDutyCycle(const char *canbus, uint32_t ecuEncoding, double updateTime, double Position, 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 position using a motion profile.
Definition: MotionMagicDutyCycle.hpp:36
MotionMagicDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicDutyCycle.hpp:273
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicDutyCycle.hpp:82
MotionMagicDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicDutyCycle.hpp:307
MotionMagicDutyCycle & WithFeedForward(units::dimensionless::scalar_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicDutyCycle.hpp:238
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicDutyCycle.hpp:354
MotionMagicDutyCycle & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicDutyCycle.hpp:255
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: MotionMagicDutyCycle.hpp:89
MotionMagicDutyCycle & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: MotionMagicDutyCycle.hpp:325
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: MotionMagicDutyCycle.hpp:374
units::dimensionless::scalar_t FeedForward
Feedforward to apply in fractional units between -1 and +1.
Definition: MotionMagicDutyCycle.hpp:76
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: MotionMagicDutyCycle.hpp:108
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: MotionMagicDutyCycle.hpp:59
MotionMagicDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicDutyCycle.hpp:290
MotionMagicDutyCycle(units::angle::turn_t Position, 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)
Requests Motion Magic® to target a final position using a motion profile.
Definition: MotionMagicDutyCycle.hpp:179
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicDutyCycle.hpp:95
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: MotionMagicDutyCycle.hpp:72
MotionMagicDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: MotionMagicDutyCycle.hpp:223
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicDutyCycle.hpp:101
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicDutyCycle.hpp:121
MotionMagicDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicDutyCycle.hpp:344
MotionMagicDutyCycle & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: MotionMagicDutyCycle.hpp:199
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