13#include <units/angle.h>
14#include <units/current.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<MotionMagicTorqueCurrentFOC>(*
this);
210 Slot = std::move(newSlot);
309 std::stringstream ss;
310 ss <<
"Control: MotionMagicTorqueCurrentFOC" << std::endl;
311 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
312 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" A" << std::endl;
313 ss <<
" Slot: " <<
Slot << std::endl;
317 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
328 std::map<std::string, std::string> controlInfo;
329 std::stringstream ss;
330 controlInfo[
"Name"] =
GetName();
331 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
332 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
333 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
335 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
336 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
337 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicTorqueCurrentFOC(const char *canbus, uint32_t ecuEncoding, double updateTime, double Position, 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; Requests Motion Magic® to target a final position using a motion profile.
Definition: MotionMagicTorqueCurrentFOC.hpp:36
MotionMagicTorqueCurrentFOC & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicTorqueCurrentFOC.hpp:260
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicTorqueCurrentFOC.hpp:109
MotionMagicTorqueCurrentFOC & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicTorqueCurrentFOC.hpp:297
units::current::ampere_t FeedForward
Feedforward to apply in torque current in Amperes.
Definition: MotionMagicTorqueCurrentFOC.hpp:64
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: MotionMagicTorqueCurrentFOC.hpp:59
MotionMagicTorqueCurrentFOC & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicTorqueCurrentFOC.hpp:208
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: MotionMagicTorqueCurrentFOC.hpp:96
MotionMagicTorqueCurrentFOC & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicTorqueCurrentFOC.hpp:243
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicTorqueCurrentFOC.hpp:70
MotionMagicTorqueCurrentFOC & WithFeedForward(units::current::ampere_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicTorqueCurrentFOC.hpp:191
bool OverrideCoastDurNeutral
Set to true to coast the rotor when output is zero (or within deadband).
Definition: MotionMagicTorqueCurrentFOC.hpp:77
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicTorqueCurrentFOC.hpp:89
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicTorqueCurrentFOC.hpp:307
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicTorqueCurrentFOC.hpp:83
MotionMagicTorqueCurrentFOC & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: MotionMagicTorqueCurrentFOC.hpp:175
MotionMagicTorqueCurrentFOC & WithOverrideCoastDurNeutral(bool newOverrideCoastDurNeutral)
Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicTorqueCurrentFOC.hpp:226
MotionMagicTorqueCurrentFOC(units::angle::turn_t Position, 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; Requests Motion Magic® to target a final position using a motion profile.
Definition: MotionMagicTorqueCurrentFOC.hpp:156
MotionMagicTorqueCurrentFOC & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: MotionMagicTorqueCurrentFOC.hpp:278
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: MotionMagicTorqueCurrentFOC.hpp:326
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