CTRE Phoenix 6 C++ 25.2.1
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DynamicMotionMagicVoltage.hpp
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1/*
2 * Copyright (C) Cross The Road Electronics.  All rights reserved.
3 * License information can be found in CTRE_LICENSE.txt
4 * For support and suggestions contact support@ctr-electronics.com or file
5 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases
6 */
7#pragma once
8
11#include <sstream>
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>
19
20
21namespace ctre {
22namespace phoenix6 {
23namespace controls {
24
25/**
26 * Requires Phoenix Pro and CANivore;
27 * Requests Motion Magic® to target a final position using a motion profile.
28 * This dynamic request allows runtime changes to Cruise Velocity, Acceleration,
29 * and Jerk. Users can optionally provide a voltage feedforward. This control
30 * requires use of a CANivore.
31 *
32 * Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise
33 * Velocity, Acceleration, and (optional) Jerk. This control mode does not use the Expo_kV or Expo_kA
34 * configs.
35 *
36 * Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This
37 * control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.
38 */
40{
41 ctre::phoenix::StatusCode SendRequest(const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req) const override
42 {
43 if (req.get() != this)
44 {
45 auto const reqCast = dynamic_cast<DynamicMotionMagicVoltage *>(req.get());
46 if (reqCast != nullptr)
47 {
48 *reqCast = *this;
49 }
50 else
51 {
52 req = std::make_shared<DynamicMotionMagicVoltage>(*this);
53 }
54 }
55
57 }
58
59public:
60 /**
61 * \brief Position to drive toward in rotations.
62 */
63 units::angle::turn_t Position;
64 /**
65 * \brief Cruise velocity for profiling. The signage does not matter as the
66 * device will use the absolute value for profile generation.
67 */
68 units::angular_velocity::turns_per_second_t Velocity;
69 /**
70 * \brief Acceleration for profiling. The signage does not matter as the device
71 * will use the absolute value for profile generation.
72 */
73 units::angular_acceleration::turns_per_second_squared_t Acceleration;
74 /**
75 * \brief Jerk for profiling. The signage does not matter as the device will
76 * use the absolute value for profile generation.
77 *
78 * Jerk is optional; if this is set to zero, then Motion Magic® will not apply a
79 * Jerk limit.
80 */
81 units::angular_jerk::turns_per_second_cubed_t Jerk;
82 /**
83 * \brief Set to true to use FOC commutation (requires Phoenix Pro), which
84 * increases peak power by ~15%. Set to false to use trapezoidal commutation.
85 *
86 * FOC improves motor performance by leveraging torque (current) control.
87 * However, this may be inconvenient for applications that require specifying
88 * duty cycle or voltage. CTR-Electronics has developed a hybrid method that
89 * combines the performances gains of FOC while still allowing applications to
90 * provide duty cycle or voltage demand. This not to be confused with simple
91 * sinusoidal control or phase voltage control which lacks the performance
92 * gains.
93 */
94 bool EnableFOC = true;
95 /**
96 * \brief Feedforward to apply in volts
97 */
98 units::voltage::volt_t FeedForward = 0.0_V;
99 /**
100 * \brief Select which gains are applied by selecting the slot. Use the
101 * configuration api to set the gain values for the selected slot before
102 * enabling this feature. Slot must be within [0,2].
103 */
104 int Slot = 0;
105 /**
106 * \brief Set to true to static-brake the rotor when output is zero (or within
107 * deadband). Set to false to use the NeutralMode configuration setting
108 * (default). This flag exists to provide the fundamental behavior of this
109 * control when output is zero, which is to provide 0V to the motor.
110 */
112 /**
113 * \brief Set to true to force forward limiting. This allows users to use other
114 * limit switch sensors connected to robot controller. This also allows use of
115 * active sensors that require external power.
116 */
117 bool LimitForwardMotion = false;
118 /**
119 * \brief Set to true to force reverse limiting. This allows users to use other
120 * limit switch sensors connected to robot controller. This also allows use of
121 * active sensors that require external power.
122 */
123 bool LimitReverseMotion = false;
124 /**
125 * \brief Set to true to ignore hardware limit switches and the
126 * LimitForwardMotion and LimitReverseMotion parameters, instead allowing
127 * motion.
128 *
129 * This can be useful on mechanisms such as an intake/feeder, where a limit
130 * switch stops motion while intaking but should be ignored when feeding to a
131 * shooter.
132 *
133 * The hardware limit faults and Forward/ReverseLimit signals will still report
134 * the values of the limit switches regardless of this parameter.
135 */
137 /**
138 * \brief Set to true to delay applying this control request until a timesync
139 * boundary (requires Phoenix Pro and CANivore). This eliminates the impact of
140 * nondeterministic network delays in exchange for a larger but deterministic
141 * control latency.
142 *
143 * This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs.
144 * Additionally, when this is enabled, the UpdateFreqHz of this request should
145 * be set to 0 Hz.
146 */
147 bool UseTimesync = false;
148
149 /**
150 * \brief The period at which this control will update at.
151 * This is designated in Hertz, with a minimum of 20 Hz
152 * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
153 *
154 * If this field is set to 0 Hz, the control request will
155 * be sent immediately as a one-shot frame. This may be useful
156 * for advanced applications that require outputs to be
157 * synchronized with data acquisition. In this case, we
158 * recommend not exceeding 50 ms between control calls.
159 */
160 units::frequency::hertz_t UpdateFreqHz{100_Hz};
161
162 /**
163 * \brief Requires Phoenix Pro and CANivore;
164 * Requests Motion Magic® to target a final position using a motion
165 * profile. This dynamic request allows runtime changes to Cruise
166 * Velocity, Acceleration, and Jerk. Users can optionally provide a
167 * voltage feedforward. This control requires use of a CANivore.
168 *
169 * \details Motion Magic® produces a motion profile in real-time while
170 * attempting to honor the specified Cruise Velocity, Acceleration, and
171 * (optional) Jerk. This control mode does not use the Expo_kV or
172 * Expo_kA configs.
173 *
174 * Target position can be changed on-the-fly and Motion Magic® will do
175 * its best to adjust the profile. This control mode is voltage-based,
176 * so relevant closed-loop gains will use Volts for the numerator.
177 *
178 * \param Position Position to drive toward in rotations.
179 * \param Velocity Cruise velocity for profiling. The signage does not
180 * matter as the device will use the absolute value for
181 * profile generation.
182 * \param Acceleration Acceleration for profiling. The signage does not
183 * matter as the device will use the absolute value for
184 * profile generation.
185 * \param Jerk Jerk for profiling. The signage does not matter as the device
186 * will use the absolute value for profile generation.
187 *
188 * Jerk is optional; if this is set to zero, then Motion Magic®
189 * will not apply a Jerk limit.
190 */
191 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) : ControlRequest{"DynamicMotionMagicVoltage"},
192 Position{std::move(Position)},
193 Velocity{std::move(Velocity)},
195 Jerk{std::move(Jerk)}
196 {}
197
198 /**
199 * \brief Modifies this Control Request's Position parameter and returns itself for
200 * method-chaining and easier to use request API.
201 *
202 * Position to drive toward in rotations.
203 *
204 * \param newPosition Parameter to modify
205 * \returns Itself
206 */
207 DynamicMotionMagicVoltage &WithPosition(units::angle::turn_t newPosition)
208 {
209 Position = std::move(newPosition);
210 return *this;
211 }
212
213 /**
214 * \brief Modifies this Control Request's Velocity parameter and returns itself for
215 * method-chaining and easier to use request API.
216 *
217 * Cruise velocity for profiling. The signage does not matter as the device
218 * will use the absolute value for profile generation.
219 *
220 * \param newVelocity Parameter to modify
221 * \returns Itself
222 */
223 DynamicMotionMagicVoltage &WithVelocity(units::angular_velocity::turns_per_second_t newVelocity)
224 {
225 Velocity = std::move(newVelocity);
226 return *this;
227 }
228
229 /**
230 * \brief Modifies this Control Request's Acceleration parameter and returns itself for
231 * method-chaining and easier to use request API.
232 *
233 * Acceleration for profiling. The signage does not matter as the device will
234 * use the absolute value for profile generation.
235 *
236 * \param newAcceleration Parameter to modify
237 * \returns Itself
238 */
239 DynamicMotionMagicVoltage &WithAcceleration(units::angular_acceleration::turns_per_second_squared_t newAcceleration)
240 {
241 Acceleration = std::move(newAcceleration);
242 return *this;
243 }
244
245 /**
246 * \brief Modifies this Control Request's Jerk parameter and returns itself for
247 * method-chaining and easier to use request API.
248 *
249 * Jerk for profiling. The signage does not matter as the device will use the
250 * absolute value for profile generation.
251 *
252 * Jerk is optional; if this is set to zero, then Motion Magic® will not apply a
253 * Jerk limit.
254 *
255 * \param newJerk Parameter to modify
256 * \returns Itself
257 */
258 DynamicMotionMagicVoltage &WithJerk(units::angular_jerk::turns_per_second_cubed_t newJerk)
259 {
260 Jerk = std::move(newJerk);
261 return *this;
262 }
263
264 /**
265 * \brief Modifies this Control Request's EnableFOC parameter and returns itself for
266 * method-chaining and easier to use request API.
267 *
268 * Set to true to use FOC commutation (requires Phoenix Pro), which increases
269 * peak power by ~15%. Set to false to use trapezoidal commutation.
270 *
271 * FOC improves motor performance by leveraging torque (current) control.
272 * However, this may be inconvenient for applications that require specifying
273 * duty cycle or voltage. CTR-Electronics has developed a hybrid method that
274 * combines the performances gains of FOC while still allowing applications to
275 * provide duty cycle or voltage demand. This not to be confused with simple
276 * sinusoidal control or phase voltage control which lacks the performance
277 * gains.
278 *
279 * \param newEnableFOC Parameter to modify
280 * \returns Itself
281 */
283 {
284 EnableFOC = std::move(newEnableFOC);
285 return *this;
286 }
287
288 /**
289 * \brief Modifies this Control Request's FeedForward parameter and returns itself for
290 * method-chaining and easier to use request API.
291 *
292 * Feedforward to apply in volts
293 *
294 * \param newFeedForward Parameter to modify
295 * \returns Itself
296 */
297 DynamicMotionMagicVoltage &WithFeedForward(units::voltage::volt_t newFeedForward)
298 {
299 FeedForward = std::move(newFeedForward);
300 return *this;
301 }
302
303 /**
304 * \brief Modifies this Control Request's Slot parameter and returns itself for
305 * method-chaining and easier to use request API.
306 *
307 * Select which gains are applied by selecting the slot. Use the configuration
308 * api to set the gain values for the selected slot before enabling this
309 * feature. Slot must be within [0,2].
310 *
311 * \param newSlot Parameter to modify
312 * \returns Itself
313 */
315 {
316 Slot = std::move(newSlot);
317 return *this;
318 }
319
320 /**
321 * \brief Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for
322 * method-chaining and easier to use request API.
323 *
324 * Set to true to static-brake the rotor when output is zero (or within
325 * deadband). Set to false to use the NeutralMode configuration setting
326 * (default). This flag exists to provide the fundamental behavior of this
327 * control when output is zero, which is to provide 0V to the motor.
328 *
329 * \param newOverrideBrakeDurNeutral Parameter to modify
330 * \returns Itself
331 */
333 {
334 OverrideBrakeDurNeutral = std::move(newOverrideBrakeDurNeutral);
335 return *this;
336 }
337
338 /**
339 * \brief Modifies this Control Request's LimitForwardMotion parameter and returns itself for
340 * method-chaining and easier to use request API.
341 *
342 * Set to true to force forward limiting. This allows users to use other limit
343 * switch sensors connected to robot controller. This also allows use of active
344 * sensors that require external power.
345 *
346 * \param newLimitForwardMotion Parameter to modify
347 * \returns Itself
348 */
350 {
351 LimitForwardMotion = std::move(newLimitForwardMotion);
352 return *this;
353 }
354
355 /**
356 * \brief Modifies this Control Request's LimitReverseMotion parameter and returns itself for
357 * method-chaining and easier to use request API.
358 *
359 * Set to true to force reverse limiting. This allows users to use other limit
360 * switch sensors connected to robot controller. This also allows use of active
361 * sensors that require external power.
362 *
363 * \param newLimitReverseMotion Parameter to modify
364 * \returns Itself
365 */
367 {
368 LimitReverseMotion = std::move(newLimitReverseMotion);
369 return *this;
370 }
371
372 /**
373 * \brief Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for
374 * method-chaining and easier to use request API.
375 *
376 * Set to true to ignore hardware limit switches and the LimitForwardMotion and
377 * LimitReverseMotion parameters, instead allowing motion.
378 *
379 * This can be useful on mechanisms such as an intake/feeder, where a limit
380 * switch stops motion while intaking but should be ignored when feeding to a
381 * shooter.
382 *
383 * The hardware limit faults and Forward/ReverseLimit signals will still report
384 * the values of the limit switches regardless of this parameter.
385 *
386 * \param newIgnoreHardwareLimits Parameter to modify
387 * \returns Itself
388 */
390 {
391 IgnoreHardwareLimits = std::move(newIgnoreHardwareLimits);
392 return *this;
393 }
394
395 /**
396 * \brief Modifies this Control Request's UseTimesync parameter and returns itself for
397 * method-chaining and easier to use request API.
398 *
399 * Set to true to delay applying this control request until a timesync boundary
400 * (requires Phoenix Pro and CANivore). This eliminates the impact of
401 * nondeterministic network delays in exchange for a larger but deterministic
402 * control latency.
403 *
404 * This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs.
405 * Additionally, when this is enabled, the UpdateFreqHz of this request should
406 * be set to 0 Hz.
407 *
408 * \param newUseTimesync Parameter to modify
409 * \returns Itself
410 */
412 {
413 UseTimesync = std::move(newUseTimesync);
414 return *this;
415 }
416 /**
417 * \brief Sets the period at which this control will update at.
418 * This is designated in Hertz, with a minimum of 20 Hz
419 * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
420 *
421 * If this field is set to 0 Hz, the control request will
422 * be sent immediately as a one-shot frame. This may be useful
423 * for advanced applications that require outputs to be
424 * synchronized with data acquisition. In this case, we
425 * recommend not exceeding 50 ms between control calls.
426 *
427 * \param newUpdateFreqHz Parameter to modify
428 * \returns Itself
429 */
430 DynamicMotionMagicVoltage &WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
431 {
432 UpdateFreqHz = newUpdateFreqHz;
433 return *this;
434 }
435 /**
436 * \brief Returns a string representation of the object.
437 *
438 * \returns a string representation of the object.
439 */
440 std::string ToString() const override
441 {
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;
451 ss << " OverrideBrakeDurNeutral: " << OverrideBrakeDurNeutral << std::endl;
452 ss << " LimitForwardMotion: " << LimitForwardMotion << std::endl;
453 ss << " LimitReverseMotion: " << LimitReverseMotion << std::endl;
454 ss << " IgnoreHardwareLimits: " << IgnoreHardwareLimits << std::endl;
455 ss << " UseTimesync: " << UseTimesync << std::endl;
456 return ss.str();
457 }
458
459 /**
460 * \brief Gets information about this control request.
461 *
462 * \returns Map of control parameter names and corresponding applied values
463 */
464 std::map<std::string, std::string> GetControlInfo() const override
465 {
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{});
476 ss << OverrideBrakeDurNeutral; controlInfo["OverrideBrakeDurNeutral"] = 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{});
481 return controlInfo;
482 }
483};
484
485}
486}
487}
488
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
Definition span.hpp:401