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/voltage.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<DynamicMotionMagicVoltage>(*
this);
56 return c_ctre_phoenix6_RequestControlDynamicMotionMagicVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
Position.to<
double>(),
Velocity.to<
double>(),
Acceleration.to<
double>(),
Jerk.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
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;
260 Jerk = std::move(newJerk);
316 Slot = std::move(newSlot);
442 std::stringstream ss;
443 ss <<
"Control: DynamicMotionMagicVoltage" << std::endl;
444 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
445 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << std::endl;
446 ss <<
" Acceleration: " <<
Acceleration.to<
double>() <<
" rotations per second²" << std::endl;
447 ss <<
" Jerk: " <<
Jerk.to<
double>() <<
" rotations per second³" << std::endl;
448 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
449 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" Volts" << std::endl;
450 ss <<
" Slot: " <<
Slot << std::endl;
455 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
466 std::map<std::string, std::string> controlInfo;
467 std::stringstream ss;
468 controlInfo[
"Name"] =
GetName();
469 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
470 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
471 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
472 ss <<
Jerk.to<
double>(); controlInfo[
"Jerk"] = ss.str(); ss.str(std::string{});
473 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
474 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
475 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
477 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
478 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
479 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
480 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDynamicMotionMagicVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, double Position, double Velocity, double Acceleration, double Jerk, 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
Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition DynamicMotionMagicVoltage.hpp:40
units::angular_acceleration::turns_per_second_squared_t Acceleration
Acceleration for profiling.
Definition DynamicMotionMagicVoltage.hpp:73
DynamicMotionMagicVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition DynamicMotionMagicVoltage.hpp:282
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition DynamicMotionMagicVoltage.hpp:98
DynamicMotionMagicVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition DynamicMotionMagicVoltage.hpp:349
DynamicMotionMagicVoltage & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition DynamicMotionMagicVoltage.hpp:207
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition DynamicMotionMagicVoltage.hpp:123
DynamicMotionMagicVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition DynamicMotionMagicVoltage.hpp:366
units::angular_jerk::turns_per_second_cubed_t Jerk
Jerk for profiling.
Definition DynamicMotionMagicVoltage.hpp:81
DynamicMotionMagicVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition DynamicMotionMagicVoltage.hpp:332
std::string ToString() const override
Returns a string representation of the object.
Definition DynamicMotionMagicVoltage.hpp:440
DynamicMotionMagicVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition DynamicMotionMagicVoltage.hpp:411
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition DynamicMotionMagicVoltage.hpp:160
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition DynamicMotionMagicVoltage.hpp:111
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition DynamicMotionMagicVoltage.hpp:94
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition DynamicMotionMagicVoltage.hpp:136
bool LimitForwardMotion
Set to true to force forward limiting.
Definition DynamicMotionMagicVoltage.hpp:117
DynamicMotionMagicVoltage & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition DynamicMotionMagicVoltage.hpp:389
DynamicMotionMagicVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition DynamicMotionMagicVoltage.hpp:297
DynamicMotionMagicVoltage(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 DynamicMotionMagicVoltage.hpp:191
DynamicMotionMagicVoltage & 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 DynamicMotionMagicVoltage.hpp:239
DynamicMotionMagicVoltage & 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 DynamicMotionMagicVoltage.hpp:258
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition DynamicMotionMagicVoltage.hpp:147
units::angle::turn_t Position
Position to drive toward in rotations.
Definition DynamicMotionMagicVoltage.hpp:63
DynamicMotionMagicVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition DynamicMotionMagicVoltage.hpp:430
int Slot
Select which gains are applied by selecting the slot.
Definition DynamicMotionMagicVoltage.hpp:104
DynamicMotionMagicVoltage & 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 DynamicMotionMagicVoltage.hpp:223
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition DynamicMotionMagicVoltage.hpp:464
DynamicMotionMagicVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition DynamicMotionMagicVoltage.hpp:314
units::angular_velocity::turns_per_second_t Velocity
Cruise velocity for profiling.
Definition DynamicMotionMagicVoltage.hpp:68
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition MotionMagicExpoTorqueCurrentFOC.hpp:18