12#include <units/angle.h>
13#include <units/angular_velocity.h>
14#include <units/angular_acceleration.h>
15#include <units/angular_jerk.h>
16#include <units/current.h>
17#include <units/frequency.h>
18#include <units/time.h>
41 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const 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,
IgnoreHardwareLimits,
UseTimesync);
68 units::angular_velocity::turns_per_second_t
Velocity;
73 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
81 units::angular_jerk::turns_per_second_cubed_t
Jerk;
249 Jerk = std::move(newJerk);
282 Slot = std::move(newSlot);
408 std::stringstream ss;
409 ss <<
"Control: DynamicMotionMagicTorqueCurrentFOC" << std::endl;
410 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
411 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << std::endl;
412 ss <<
" Acceleration: " <<
Acceleration.to<
double>() <<
" rotations per second²" << std::endl;
413 ss <<
" Jerk: " <<
Jerk.to<
double>() <<
" rotations per second³" << std::endl;
414 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" A" << std::endl;
415 ss <<
" Slot: " <<
Slot << std::endl;
420 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
431 std::map<std::string, std::string> controlInfo;
432 std::stringstream ss;
433 controlInfo[
"Name"] =
GetName();
434 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
435 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
436 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
437 ss <<
Jerk.to<
double>(); controlInfo[
"Jerk"] = ss.str(); ss.str(std::string{});
438 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
439 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
441 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
442 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
443 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
444 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 IgnoreHardwareLimits, bool UseTimesync)
Abstract Control Request class that other control requests extend for use.
Definition ControlRequest.hpp:30
std::string const & GetName() const
Definition ControlRequest.hpp:53
Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:40
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:124
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:196
DynamicMotionMagicTorqueCurrentFOC & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:355
DynamicMotionMagicTorqueCurrentFOC & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:377
units::angle::turn_t Position
Position to drive toward in rotations.
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:63
DynamicMotionMagicTorqueCurrentFOC & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:280
bool OverrideCoastDurNeutral
Set to true to coast the rotor when output is zero (or within deadband).
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:99
int Slot
Select which gains are applied by selecting the slot.
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:92
DynamicMotionMagicTorqueCurrentFOC & WithOverrideCoastDurNeutral(bool newOverrideCoastDurNeutral)
Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chain...
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:298
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:212
std::string ToString() const override
Returns a string representation of the object.
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:406
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:111
units::angular_jerk::turns_per_second_cubed_t Jerk
Jerk for profiling.
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:81
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:228
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:135
DynamicMotionMagicTorqueCurrentFOC & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:315
bool LimitForwardMotion
Set to true to force forward limiting.
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:105
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)
Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:180
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:263
DynamicMotionMagicTorqueCurrentFOC & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:396
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:148
DynamicMotionMagicTorqueCurrentFOC & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:332
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:247
units::current::ampere_t FeedForward
Feedforward to apply in torque current in Amperes.
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:86
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition DynamicMotionMagicTorqueCurrentFOC.hpp:429
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
Definition MotionMagicExpoTorqueCurrentFOC.hpp:18