12#include <units/angle.h>
13#include <units/current.h>
14#include <units/frequency.h>
15#include <units/time.h>
39 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const override
41 if (req.get() !=
this)
44 if (reqCast !=
nullptr)
50 req = std::make_shared<MotionMagicExpoTorqueCurrentFOC>(*
this);
54 return c_ctre_phoenix6_RequestControlMotionMagicExpoTorqueCurrentFOC(network, deviceHash,
UpdateFreqHz.to<
double>(),
Position.to<
double>(),
FeedForward.to<
double>(),
Slot,
OverrideCoastDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
IgnoreHardwareLimits,
UseTimesync);
201 Slot = std::move(newSlot);
327 std::stringstream ss;
328 ss <<
"Control: MotionMagicExpoTorqueCurrentFOC" << std::endl;
329 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
330 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" A" << std::endl;
331 ss <<
" Slot: " <<
Slot << std::endl;
336 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
347 std::map<std::string, std::string> controlInfo;
348 std::stringstream ss;
349 controlInfo[
"Name"] =
GetName();
350 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
351 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
352 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
354 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
355 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
356 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
357 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicExpoTorqueCurrentFOC(const char *canbus, uint32_t ecuEncoding, double updateTime, double Position, 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
Requires Phoenix Pro; Requests Motion Magic® to target a final position using an exponential motion p...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:38
MotionMagicExpoTorqueCurrentFOC & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:199
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:345
MotionMagicExpoTorqueCurrentFOC & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:315
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:104
std::string ToString() const override
Returns a string representation of the object.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:325
units::angle::turn_t Position
Position to drive toward in rotations.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:61
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:115
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:91
MotionMagicExpoTorqueCurrentFOC & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:166
MotionMagicExpoTorqueCurrentFOC & WithOverrideCoastDurNeutral(bool newOverrideCoastDurNeutral)
Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chain...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:217
int Slot
Select which gains are applied by selecting the slot.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:72
MotionMagicExpoTorqueCurrentFOC(units::angle::turn_t Position)
Requires Phoenix Pro; Requests Motion Magic® to target a final position using an exponential motion p...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:153
MotionMagicExpoTorqueCurrentFOC & WithFeedForward(units::current::ampere_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:182
MotionMagicExpoTorqueCurrentFOC & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:251
bool LimitForwardMotion
Set to true to force forward limiting.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:85
MotionMagicExpoTorqueCurrentFOC & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:234
units::current::ampere_t FeedForward
Feedforward to apply in torque current in Amperes.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:66
MotionMagicExpoTorqueCurrentFOC & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:274
bool OverrideCoastDurNeutral
Set to true to coast the rotor when output is zero (or within deadband).
Definition MotionMagicExpoTorqueCurrentFOC.hpp:79
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:128
MotionMagicExpoTorqueCurrentFOC & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:296
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition MotionMagicExpoTorqueCurrentFOC.hpp:18