12#include <units/angle.h>
13#include <units/frequency.h>
14#include <units/time.h>
29 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const override
31 if (req.get() !=
this)
34 if (reqCast !=
nullptr)
40 req = std::make_shared<DifferentialPositionVoltage>(*
this);
44 return c_ctre_phoenix6_RequestControlDifferentialPositionVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
TargetPosition.to<
double>(),
DifferentialPosition.to<
double>(),
EnableFOC,
TargetSlot,
DifferentialSlot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
IgnoreHardwareLimits,
UseTimesync);
364 std::stringstream ss;
365 ss <<
"Control: DifferentialPositionVoltage" << std::endl;
366 ss <<
" TargetPosition: " <<
TargetPosition.to<
double>() <<
" rotations" << std::endl;
367 ss <<
" DifferentialPosition: " <<
DifferentialPosition.to<
double>() <<
" rotations" << std::endl;
368 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
369 ss <<
" TargetSlot: " <<
TargetSlot << std::endl;
375 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
386 std::map<std::string, std::string> controlInfo;
387 std::stringstream ss;
388 controlInfo[
"Name"] =
GetName();
389 ss <<
TargetPosition.to<
double>(); controlInfo[
"TargetPosition"] = ss.str(); ss.str(std::string{});
390 ss <<
DifferentialPosition.to<
double>(); controlInfo[
"DifferentialPosition"] = ss.str(); ss.str(std::string{});
391 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
392 ss <<
TargetSlot; controlInfo[
"TargetSlot"] = ss.str(); ss.str(std::string{});
393 ss <<
DifferentialSlot; controlInfo[
"DifferentialSlot"] = ss.str(); ss.str(std::string{});
395 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
396 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
397 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
398 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDifferentialPositionVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, double TargetPosition, 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 position with a differential position setpoint.
Definition DifferentialPositionVoltage.hpp:28
DifferentialPositionVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition DifferentialPositionVoltage.hpp:254
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition DifferentialPositionVoltage.hpp:68
DifferentialPositionVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition DifferentialPositionVoltage.hpp:202
DifferentialPositionVoltage & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition DifferentialPositionVoltage.hpp:311
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition DifferentialPositionVoltage.hpp:87
DifferentialPositionVoltage(units::angle::turn_t TargetPosition, units::angle::turn_t DifferentialPosition)
Request PID to target position with a differential position setpoint.
Definition DifferentialPositionVoltage.hpp:149
int DifferentialSlot
Select which gains are applied to the differential controller by selecting the slot.
Definition DifferentialPositionVoltage.hpp:80
DifferentialPositionVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition DifferentialPositionVoltage.hpp:271
bool LimitForwardMotion
Set to true to force forward limiting.
Definition DifferentialPositionVoltage.hpp:93
DifferentialPositionVoltage & WithTargetSlot(int newTargetSlot)
Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easie...
Definition DifferentialPositionVoltage.hpp:219
int TargetSlot
Select which gains are applied to the primary controller by selecting the slot.
Definition DifferentialPositionVoltage.hpp:74
DifferentialPositionVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition DifferentialPositionVoltage.hpp:333
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition DifferentialPositionVoltage.hpp:123
DifferentialPositionVoltage & WithTargetPosition(units::angle::turn_t newTargetPosition)
Modifies this Control Request's TargetPosition parameter and returns itself for method-chaining and e...
Definition DifferentialPositionVoltage.hpp:163
units::angle::turn_t TargetPosition
Average position to drive toward in rotations.
Definition DifferentialPositionVoltage.hpp:51
DifferentialPositionVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition DifferentialPositionVoltage.hpp:352
units::angle::turn_t DifferentialPosition
Differential position to drive toward in rotations.
Definition DifferentialPositionVoltage.hpp:55
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition DifferentialPositionVoltage.hpp:99
DifferentialPositionVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition DifferentialPositionVoltage.hpp:288
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition DifferentialPositionVoltage.hpp:112
DifferentialPositionVoltage & WithDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and...
Definition DifferentialPositionVoltage.hpp:236
DifferentialPositionVoltage & WithDifferentialPosition(units::angle::turn_t newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining...
Definition DifferentialPositionVoltage.hpp:178
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition DifferentialPositionVoltage.hpp:384
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition DifferentialPositionVoltage.hpp:136
std::string ToString() const override
Returns a string representation of the object.
Definition DifferentialPositionVoltage.hpp:362
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition MotionMagicExpoTorqueCurrentFOC.hpp:18