13#include <units/angle.h>
14#include <units/angular_velocity.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<PositionDutyCycle>(*
this);
47 return c_ctre_phoenix6_RequestControlPositionDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(),
Position.to<
double>(),
Velocity.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
59 units::angular_velocity::turns_per_second_t
Velocity;
270 Slot = std::move(newSlot);
369 std::stringstream ss;
370 ss <<
"Control: PositionDutyCycle" << std::endl;
371 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
372 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << 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 <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
394 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = 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_RequestControlPositionDutyCycle(const char *canbus, uint32_t ecuEncoding, double updateTime, double Position, double Velocity, 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 position with duty cycle feedforward.
Definition: PositionDutyCycle.hpp:31
PositionDutyCycle & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: PositionDutyCycle.hpp:268
units::dimensionless::scalar_t FeedForward
Feedforward to apply in fractional units between -1 and +1.
Definition: PositionDutyCycle.hpp:76
PositionDutyCycle & 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: PositionDutyCycle.hpp:212
PositionDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: PositionDutyCycle.hpp:236
units::angular_velocity::turns_per_second_t Velocity
Velocity to drive toward in rotations per second.
Definition: PositionDutyCycle.hpp:59
PositionDutyCycle & WithFeedForward(units::dimensionless::scalar_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: PositionDutyCycle.hpp:251
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: PositionDutyCycle.hpp:72
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: PositionDutyCycle.hpp:54
PositionDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: PositionDutyCycle.hpp:320
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: PositionDutyCycle.hpp:95
int Slot
Select which gains are applied by selecting the slot.
Definition: PositionDutyCycle.hpp:82
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: PositionDutyCycle.hpp:388
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: PositionDutyCycle.hpp:89
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: PositionDutyCycle.hpp:121
PositionDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: PositionDutyCycle.hpp:357
PositionDutyCycle(units::angle::turn_t Position, units::angular_velocity::turns_per_second_t Velocity=0.0_tps, 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 position with duty cycle feedforward.
Definition: PositionDutyCycle.hpp:175
PositionDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: PositionDutyCycle.hpp:303
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: PositionDutyCycle.hpp:108
PositionDutyCycle & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: PositionDutyCycle.hpp:338
PositionDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: PositionDutyCycle.hpp:286
PositionDutyCycle & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: PositionDutyCycle.hpp:196
std::string ToString() const override
Returns a string representation of the object.
Definition: PositionDutyCycle.hpp:367
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: PositionDutyCycle.hpp:101
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