12#include <units/angular_velocity.h>
13#include <units/angle.h>
14#include <units/frequency.h>
15#include <units/time.h>
30 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const override
32 if (req.get() !=
this)
35 if (reqCast !=
nullptr)
41 req = std::make_shared<DifferentialVelocityVoltage>(*
this);
45 return c_ctre_phoenix6_RequestControlDifferentialVelocityVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
TargetVelocity.to<
double>(),
DifferentialPosition.to<
double>(),
EnableFOC,
TargetSlot,
DifferentialSlot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
IgnoreHardwareLimits,
UseTimesync);
366 std::stringstream ss;
367 ss <<
"Control: DifferentialVelocityVoltage" << std::endl;
368 ss <<
" TargetVelocity: " <<
TargetVelocity.to<
double>() <<
" rotations per second" << std::endl;
369 ss <<
" DifferentialPosition: " <<
DifferentialPosition.to<
double>() <<
" rotations" << std::endl;
370 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
371 ss <<
" TargetSlot: " <<
TargetSlot << std::endl;
377 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
388 std::map<std::string, std::string> controlInfo;
389 std::stringstream ss;
390 controlInfo[
"Name"] =
GetName();
391 ss <<
TargetVelocity.to<
double>(); controlInfo[
"TargetVelocity"] = ss.str(); ss.str(std::string{});
392 ss <<
DifferentialPosition.to<
double>(); controlInfo[
"DifferentialPosition"] = ss.str(); ss.str(std::string{});
393 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
394 ss <<
TargetSlot; controlInfo[
"TargetSlot"] = ss.str(); ss.str(std::string{});
395 ss <<
DifferentialSlot; controlInfo[
"DifferentialSlot"] = ss.str(); ss.str(std::string{});
397 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
398 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
399 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
400 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDifferentialVelocityVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, double TargetVelocity, double DifferentialPosition, bool EnableFOC, int TargetSlot, int DifferentialSlot, 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
Request PID to target velocity with a differential position setpoint.
Definition DifferentialVelocityVoltage.hpp:29
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition DifferentialVelocityVoltage.hpp:124
DifferentialVelocityVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition DifferentialVelocityVoltage.hpp:290
DifferentialVelocityVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition DifferentialVelocityVoltage.hpp:273
DifferentialVelocityVoltage & WithTargetSlot(int newTargetSlot)
Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easie...
Definition DifferentialVelocityVoltage.hpp:221
int DifferentialSlot
Select which gains are applied to the differential controller by selecting the slot.
Definition DifferentialVelocityVoltage.hpp:81
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition DifferentialVelocityVoltage.hpp:386
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition DifferentialVelocityVoltage.hpp:137
DifferentialVelocityVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition DifferentialVelocityVoltage.hpp:335
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition DifferentialVelocityVoltage.hpp:69
DifferentialVelocityVoltage & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition DifferentialVelocityVoltage.hpp:313
DifferentialVelocityVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition DifferentialVelocityVoltage.hpp:256
DifferentialVelocityVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition DifferentialVelocityVoltage.hpp:354
DifferentialVelocityVoltage & WithTargetVelocity(units::angular_velocity::turns_per_second_t newTargetVelocity)
Modifies this Control Request's TargetVelocity parameter and returns itself for method-chaining and e...
Definition DifferentialVelocityVoltage.hpp:165
DifferentialVelocityVoltage & WithDifferentialPosition(units::angle::turn_t newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining...
Definition DifferentialVelocityVoltage.hpp:180
std::string ToString() const override
Returns a string representation of the object.
Definition DifferentialVelocityVoltage.hpp:364
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition DifferentialVelocityVoltage.hpp:88
bool LimitForwardMotion
Set to true to force forward limiting.
Definition DifferentialVelocityVoltage.hpp:94
units::angular_velocity::turns_per_second_t TargetVelocity
Average velocity to drive toward in rotations per second.
Definition DifferentialVelocityVoltage.hpp:52
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition DifferentialVelocityVoltage.hpp:100
units::angle::turn_t DifferentialPosition
Differential position to drive toward in rotations.
Definition DifferentialVelocityVoltage.hpp:56
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition DifferentialVelocityVoltage.hpp:113
DifferentialVelocityVoltage(units::angular_velocity::turns_per_second_t TargetVelocity, units::angle::turn_t DifferentialPosition)
Request PID to target velocity with a differential position setpoint.
Definition DifferentialVelocityVoltage.hpp:151
DifferentialVelocityVoltage & WithDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and...
Definition DifferentialVelocityVoltage.hpp:238
DifferentialVelocityVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition DifferentialVelocityVoltage.hpp:204
int TargetSlot
Select which gains are applied to the primary controller by selecting the slot.
Definition DifferentialVelocityVoltage.hpp:75
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition MotionMagicExpoTorqueCurrentFOC.hpp:18