12#include <units/angle.h>
13#include <units/voltage.h>
14#include <units/frequency.h>
15#include <units/time.h>
38 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const override
40 if (req.get() !=
this)
43 if (reqCast !=
nullptr)
49 req = std::make_shared<MotionMagicExpoVoltage>(*
this);
53 return c_ctre_phoenix6_RequestControlMotionMagicExpoVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
Position.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
IgnoreHardwareLimits,
UseTimesync);
232 Slot = std::move(newSlot);
358 std::stringstream ss;
359 ss <<
"Control: MotionMagicExpoVoltage" << std::endl;
360 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
361 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
362 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" Volts" << std::endl;
363 ss <<
" Slot: " <<
Slot << std::endl;
368 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
379 std::map<std::string, std::string> controlInfo;
380 std::stringstream ss;
381 controlInfo[
"Name"] =
GetName();
382 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
383 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
384 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
385 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
387 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
388 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
389 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
390 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicExpoVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, double Position, 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 position using an exponential motion profile.
Definition MotionMagicExpoVoltage.hpp:37
std::string ToString() const override
Returns a string representation of the object.
Definition MotionMagicExpoVoltage.hpp:356
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition MotionMagicExpoVoltage.hpp:139
MotionMagicExpoVoltage & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition MotionMagicExpoVoltage.hpp:174
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition MotionMagicExpoVoltage.hpp:73
MotionMagicExpoVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition MotionMagicExpoVoltage.hpp:265
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition MotionMagicExpoVoltage.hpp:115
MotionMagicExpoVoltage(units::angle::turn_t Position)
Requests Motion Magic® to target a final position using an exponential motion profile.
Definition MotionMagicExpoVoltage.hpp:161
int Slot
Select which gains are applied by selecting the slot.
Definition MotionMagicExpoVoltage.hpp:83
MotionMagicExpoVoltage & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition MotionMagicExpoVoltage.hpp:305
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition MotionMagicExpoVoltage.hpp:102
MotionMagicExpoVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition MotionMagicExpoVoltage.hpp:327
MotionMagicExpoVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition MotionMagicExpoVoltage.hpp:230
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition MotionMagicExpoVoltage.hpp:90
MotionMagicExpoVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition MotionMagicExpoVoltage.hpp:282
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition MotionMagicExpoVoltage.hpp:377
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition MotionMagicExpoVoltage.hpp:126
MotionMagicExpoVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition MotionMagicExpoVoltage.hpp:213
units::angle::turn_t Position
Position to drive toward in rotations.
Definition MotionMagicExpoVoltage.hpp:60
MotionMagicExpoVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition MotionMagicExpoVoltage.hpp:248
MotionMagicExpoVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition MotionMagicExpoVoltage.hpp:346
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition MotionMagicExpoVoltage.hpp:77
bool LimitForwardMotion
Set to true to force forward limiting.
Definition MotionMagicExpoVoltage.hpp:96
MotionMagicExpoVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition MotionMagicExpoVoltage.hpp:198
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition MotionMagicExpoTorqueCurrentFOC.hpp:18