12#include <units/angle.h>
13#include <units/frequency.h>
14#include <units/time.h>
34 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const override
36 if (req.get() !=
this)
39 if (reqCast !=
nullptr)
45 req = std::make_shared<DifferentialMotionMagicVoltage>(*
this);
49 return c_ctre_phoenix6_RequestControlDifferentialMotionMagicVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
TargetPosition.to<
double>(),
DifferentialPosition.to<
double>(),
EnableFOC,
TargetSlot,
DifferentialSlot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
IgnoreHardwareLimits,
UseTimesync);
376 std::stringstream ss;
377 ss <<
"Control: DifferentialMotionMagicVoltage" << std::endl;
378 ss <<
" TargetPosition: " <<
TargetPosition.to<
double>() <<
" rotations" << std::endl;
379 ss <<
" DifferentialPosition: " <<
DifferentialPosition.to<
double>() <<
" rotations" << std::endl;
380 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
381 ss <<
" TargetSlot: " <<
TargetSlot << std::endl;
387 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
398 std::map<std::string, std::string> controlInfo;
399 std::stringstream ss;
400 controlInfo[
"Name"] =
GetName();
401 ss <<
TargetPosition.to<
double>(); controlInfo[
"TargetPosition"] = ss.str(); ss.str(std::string{});
402 ss <<
DifferentialPosition.to<
double>(); controlInfo[
"DifferentialPosition"] = ss.str(); ss.str(std::string{});
403 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
404 ss <<
TargetSlot; controlInfo[
"TargetSlot"] = ss.str(); ss.str(std::string{});
405 ss <<
DifferentialSlot; controlInfo[
"DifferentialSlot"] = ss.str(); ss.str(std::string{});
407 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
408 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
409 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
410 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDifferentialMotionMagicVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, double TargetPosition, double DifferentialPosition, bool EnableFOC, int TargetSlot, int DifferentialSlot, bool OverrideBrakeDurNeutral, 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
Requests Motion Magic® to target a final position using a motion profile, and PID to a differential p...
Definition DifferentialMotionMagicVoltage.hpp:33
DifferentialMotionMagicVoltage & WithDifferentialPosition(units::angle::turn_t newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining...
Definition DifferentialMotionMagicVoltage.hpp:190
DifferentialMotionMagicVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition DifferentialMotionMagicVoltage.hpp:345
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition DifferentialMotionMagicVoltage.hpp:141
units::angle::turn_t DifferentialPosition
Differential position to drive toward in rotations.
Definition DifferentialMotionMagicVoltage.hpp:60
int DifferentialSlot
Select which gains are applied to the differential controller by selecting the slot.
Definition DifferentialMotionMagicVoltage.hpp:85
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition DifferentialMotionMagicVoltage.hpp:92
units::angle::turn_t TargetPosition
Average position to drive toward in rotations.
Definition DifferentialMotionMagicVoltage.hpp:56
std::string ToString() const override
Returns a string representation of the object.
Definition DifferentialMotionMagicVoltage.hpp:374
DifferentialMotionMagicVoltage & WithTargetSlot(int newTargetSlot)
Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easie...
Definition DifferentialMotionMagicVoltage.hpp:231
int TargetSlot
Select which gains are applied to the primary controller by selecting the slot.
Definition DifferentialMotionMagicVoltage.hpp:79
DifferentialMotionMagicVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition DifferentialMotionMagicVoltage.hpp:214
DifferentialMotionMagicVoltage & WithDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and...
Definition DifferentialMotionMagicVoltage.hpp:248
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition DifferentialMotionMagicVoltage.hpp:104
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition DifferentialMotionMagicVoltage.hpp:73
bool LimitForwardMotion
Set to true to force forward limiting.
Definition DifferentialMotionMagicVoltage.hpp:98
DifferentialMotionMagicVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition DifferentialMotionMagicVoltage.hpp:266
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition DifferentialMotionMagicVoltage.hpp:128
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition DifferentialMotionMagicVoltage.hpp:117
DifferentialMotionMagicVoltage & WithTargetPosition(units::angle::turn_t newTargetPosition)
Modifies this Control Request's TargetPosition parameter and returns itself for method-chaining and e...
Definition DifferentialMotionMagicVoltage.hpp:175
DifferentialMotionMagicVoltage & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition DifferentialMotionMagicVoltage.hpp:323
DifferentialMotionMagicVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition DifferentialMotionMagicVoltage.hpp:364
DifferentialMotionMagicVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition DifferentialMotionMagicVoltage.hpp:300
DifferentialMotionMagicVoltage(units::angle::turn_t TargetPosition, units::angle::turn_t DifferentialPosition)
Requests Motion Magic® to target a final position using a motion profile, and PID to a differential p...
Definition DifferentialMotionMagicVoltage.hpp:161
DifferentialMotionMagicVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition DifferentialMotionMagicVoltage.hpp:283
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition DifferentialMotionMagicVoltage.hpp:396
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition MotionMagicExpoTorqueCurrentFOC.hpp:18