12#include <units/angular_velocity.h>
13#include <units/angular_acceleration.h>
14#include <units/voltage.h>
15#include <units/frequency.h>
16#include <units/time.h>
42 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const override
44 if (req.get() !=
this)
47 if (reqCast !=
nullptr)
53 req = std::make_shared<MotionMagicVelocityVoltage>(*
this);
57 return c_ctre_phoenix6_RequestControlMotionMagicVelocityVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
Velocity.to<
double>(),
Acceleration.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
IgnoreHardwareLimits,
UseTimesync);
65 units::angular_velocity::turns_per_second_t
Velocity;
72 units::angular_acceleration::turns_per_second_squared_t
Acceleration = 0.0_tr_per_s_sq;
268 Slot = std::move(newSlot);
394 std::stringstream ss;
395 ss <<
"Control: MotionMagicVelocityVoltage" << std::endl;
396 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << std::endl;
397 ss <<
" Acceleration: " <<
Acceleration.to<
double>() <<
" rotations per second²" << std::endl;
398 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
399 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" Volts" << std::endl;
400 ss <<
" Slot: " <<
Slot << std::endl;
405 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
416 std::map<std::string, std::string> controlInfo;
417 std::stringstream ss;
418 controlInfo[
"Name"] =
GetName();
419 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
420 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
421 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
422 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
423 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
425 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
426 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
427 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
428 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicVelocityVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, double Velocity, double Acceleration, bool EnableFOC, double FeedForward, int Slot, 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 velocity using a motion profile.
Definition MotionMagicVelocityVoltage.hpp:41
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition MotionMagicVelocityVoltage.hpp:102
bool LimitForwardMotion
Set to true to force forward limiting.
Definition MotionMagicVelocityVoltage.hpp:108
MotionMagicVelocityVoltage(units::angular_velocity::turns_per_second_t Velocity)
Requests Motion Magic® to target a final velocity using a motion profile.
Definition MotionMagicVelocityVoltage.hpp:178
MotionMagicVelocityVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition MotionMagicVelocityVoltage.hpp:266
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition MotionMagicVelocityVoltage.hpp:127
MotionMagicVelocityVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition MotionMagicVelocityVoltage.hpp:301
std::string ToString() const override
Returns a string representation of the object.
Definition MotionMagicVelocityVoltage.hpp:392
MotionMagicVelocityVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition MotionMagicVelocityVoltage.hpp:382
MotionMagicVelocityVoltage & 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 MotionMagicVelocityVoltage.hpp:210
MotionMagicVelocityVoltage & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition MotionMagicVelocityVoltage.hpp:341
MotionMagicVelocityVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition MotionMagicVelocityVoltage.hpp:363
MotionMagicVelocityVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition MotionMagicVelocityVoltage.hpp:318
units::angular_velocity::turns_per_second_t Velocity
Target velocity to drive toward in rotations per second.
Definition MotionMagicVelocityVoltage.hpp:65
MotionMagicVelocityVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition MotionMagicVelocityVoltage.hpp:284
int Slot
Select which gains are applied by selecting the slot.
Definition MotionMagicVelocityVoltage.hpp:95
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition MotionMagicVelocityVoltage.hpp:151
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition MotionMagicVelocityVoltage.hpp:85
MotionMagicVelocityVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition MotionMagicVelocityVoltage.hpp:234
units::angular_acceleration::turns_per_second_squared_t Acceleration
This is the absolute Acceleration to use generating the profile.
Definition MotionMagicVelocityVoltage.hpp:72
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition MotionMagicVelocityVoltage.hpp:138
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition MotionMagicVelocityVoltage.hpp:114
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition MotionMagicVelocityVoltage.hpp:89
MotionMagicVelocityVoltage & 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 MotionMagicVelocityVoltage.hpp:192
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition MotionMagicVelocityVoltage.hpp:414
MotionMagicVelocityVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition MotionMagicVelocityVoltage.hpp:249
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition MotionMagicExpoTorqueCurrentFOC.hpp:18