13#include <units/angle.h>
14#include <units/angular_velocity.h>
15#include <units/angular_acceleration.h>
16#include <units/angular_jerk.h>
17#include <units/current.h>
18#include <units/frequency.h>
19#include <units/time.h>
41 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
override
43 if (req.get() !=
this)
46 if (reqCast !=
nullptr)
52 req = std::make_shared<DynamicMotionMagicTorqueCurrentFOC>(*
this);
56 return c_ctre_phoenix6_RequestControlDynamicMotionMagicTorqueCurrentFOC(network, deviceHash,
UpdateFreqHz.to<
double>(),
Position.to<
double>(),
Velocity.to<
double>(),
Acceleration.to<
double>(),
Jerk.to<
double>(),
FeedForward.to<
double>(),
Slot,
OverrideCoastDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
UseTimesync);
68 units::angular_velocity::turns_per_second_t
Velocity;
73 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
78 units::angular_jerk::turns_per_second_cubed_t
Jerk;
185 DynamicMotionMagicTorqueCurrentFOC(units::angle::turn_t
Position, units::angular_velocity::turns_per_second_t
Velocity, units::angular_acceleration::turns_per_second_squared_t
Acceleration, units::angular_jerk::turns_per_second_cubed_t
Jerk, units::current::ampere_t
FeedForward = 0.0_A,
int Slot = 0,
bool OverrideCoastDurNeutral =
false,
bool LimitForwardMotion =
false,
bool LimitReverseMotion =
false,
bool UseTimesync =
false) :
ControlRequest{
"DynamicMotionMagicTorqueCurrentFOC"},
257 Jerk = std::move(newJerk);
290 Slot = std::move(newSlot);
389 std::stringstream ss;
390 ss <<
"Control: DynamicMotionMagicTorqueCurrentFOC" << std::endl;
391 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
392 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << std::endl;
393 ss <<
" Acceleration: " <<
Acceleration.to<
double>() <<
" rotations per second²" << std::endl;
394 ss <<
" Jerk: " <<
Jerk.to<
double>() <<
" rotations per second³" << std::endl;
395 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" A" << std::endl;
396 ss <<
" Slot: " <<
Slot << std::endl;
400 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
411 std::map<std::string, std::string> controlInfo;
412 std::stringstream ss;
413 controlInfo[
"Name"] =
GetName();
414 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
415 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
416 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
417 ss <<
Jerk.to<
double>(); controlInfo[
"Jerk"] = ss.str(); ss.str(std::string{});
418 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
419 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
421 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
422 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
423 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDynamicMotionMagicTorqueCurrentFOC(const char *canbus, uint32_t ecuEncoding, double updateTime, double Position, double Velocity, double Acceleration, double Jerk, 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 and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:40
DynamicMotionMagicTorqueCurrentFOC & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:207
DynamicMotionMagicTorqueCurrentFOC & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:358
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:63
DynamicMotionMagicTorqueCurrentFOC(units::angle::turn_t Position, units::angular_velocity::turns_per_second_t Velocity, units::angular_acceleration::turns_per_second_squared_t Acceleration, units::angular_jerk::turns_per_second_cubed_t Jerk, 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 and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:185
DynamicMotionMagicTorqueCurrentFOC & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:288
bool OverrideCoastDurNeutral
Set to true to coast the rotor when output is zero (or within deadband).
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:96
int Slot
Select which gains are applied by selecting the slot.
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:89
DynamicMotionMagicTorqueCurrentFOC & WithOverrideCoastDurNeutral(bool newOverrideCoastDurNeutral)
Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chain...
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:306
DynamicMotionMagicTorqueCurrentFOC & 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: DynamicMotionMagicTorqueCurrentFOC.hpp:223
std::string ToString() const override
Returns a string representation of the object.
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:387
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:108
units::angular_jerk::turns_per_second_cubed_t Jerk
Jerk for profiling.
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:78
units::angular_velocity::turns_per_second_t Velocity
Cruise velocity for profiling.
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:68
DynamicMotionMagicTorqueCurrentFOC & 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: DynamicMotionMagicTorqueCurrentFOC.hpp:239
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:115
DynamicMotionMagicTorqueCurrentFOC & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:323
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:102
DynamicMotionMagicTorqueCurrentFOC & WithFeedForward(units::current::ampere_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:271
DynamicMotionMagicTorqueCurrentFOC & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:377
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:128
DynamicMotionMagicTorqueCurrentFOC & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:340
DynamicMotionMagicTorqueCurrentFOC & WithJerk(units::angular_jerk::turns_per_second_cubed_t newJerk)
Modifies this Control Request's Jerk parameter and returns itself for method-chaining and easier to u...
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:255
units::current::ampere_t FeedForward
Feedforward to apply in torque current in Amperes.
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:83
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:409
units::angular_acceleration::turns_per_second_squared_t Acceleration
Acceleration for profiling.
Definition: DynamicMotionMagicTorqueCurrentFOC.hpp:73
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