12#include <units/angular_velocity.h>
13#include <units/angular_acceleration.h>
14#include <units/current.h>
15#include <units/frequency.h>
16#include <units/time.h>
43 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const override
45 if (req.get() !=
this)
48 if (reqCast !=
nullptr)
54 req = std::make_shared<MotionMagicVelocityTorqueCurrentFOC>(*
this);
58 return c_ctre_phoenix6_RequestControlMotionMagicVelocityTorqueCurrentFOC(network, deviceHash,
UpdateFreqHz.to<
double>(),
Velocity.to<
double>(),
Acceleration.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideCoastDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
IgnoreHardwareLimits,
UseTimesync);
66 units::angular_velocity::turns_per_second_t
Velocity;
73 units::angular_acceleration::turns_per_second_squared_t
Acceleration = 0.0_tr_per_s_sq;
271 Slot = std::move(newSlot);
397 std::stringstream ss;
398 ss <<
"Control: MotionMagicVelocityTorqueCurrentFOC" << std::endl;
399 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << std::endl;
400 ss <<
" Acceleration: " <<
Acceleration.to<
double>() <<
" rotations per second²" << std::endl;
401 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
402 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" A" << std::endl;
403 ss <<
" Slot: " <<
Slot << std::endl;
408 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
419 std::map<std::string, std::string> controlInfo;
420 std::stringstream ss;
421 controlInfo[
"Name"] =
GetName();
422 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
423 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
424 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
425 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
426 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
428 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
429 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
430 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
431 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicVelocityTorqueCurrentFOC(const char *canbus, uint32_t ecuEncoding, double updateTime, double Velocity, double Acceleration, bool EnableFOC, 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
Requests Motion Magic® to target a final velocity using a motion profile.
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:42
MotionMagicVelocityTorqueCurrentFOC & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:344
MotionMagicVelocityTorqueCurrentFOC & WithFeedForward(units::current::ampere_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:252
MotionMagicVelocityTorqueCurrentFOC(units::angular_velocity::turns_per_second_t Velocity)
Requests Motion Magic® to target a final velocity using a motion profile.
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:180
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:129
int Slot
Select which gains are applied by selecting the slot.
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:97
MotionMagicVelocityTorqueCurrentFOC & WithOverrideCoastDurNeutral(bool newOverrideCoastDurNeutral)
Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chain...
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:287
MotionMagicVelocityTorqueCurrentFOC & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:236
units::current::ampere_t FeedForward
Feedforward to apply in torque current in Amperes.
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:91
MotionMagicVelocityTorqueCurrentFOC & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:385
MotionMagicVelocityTorqueCurrentFOC & 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 MotionMagicVelocityTorqueCurrentFOC.hpp:194
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:140
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:417
bool LimitForwardMotion
Set to true to force forward limiting.
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:110
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:116
MotionMagicVelocityTorqueCurrentFOC & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:304
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:153
bool OverrideCoastDurNeutral
Set to true to coast the rotor when output is zero (or within deadband).
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:104
MotionMagicVelocityTorqueCurrentFOC & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:269
std::string ToString() const override
Returns a string representation of the object.
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:395
MotionMagicVelocityTorqueCurrentFOC & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:321
units::angular_acceleration::turns_per_second_squared_t Acceleration
This is the absolute Acceleration to use generating the profile.
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:73
MotionMagicVelocityTorqueCurrentFOC & 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 MotionMagicVelocityTorqueCurrentFOC.hpp:212
MotionMagicVelocityTorqueCurrentFOC & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:366
units::angular_velocity::turns_per_second_t Velocity
Target velocity to drive toward in rotations per second.
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:66
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition MotionMagicVelocityTorqueCurrentFOC.hpp:86
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition MotionMagicExpoTorqueCurrentFOC.hpp:18