12#include <units/angle.h>
13#include <units/frequency.h>
14#include <units/time.h>
34 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const override
36 if (req.get() !=
this)
39 if (reqCast !=
nullptr)
45 req = std::make_shared<DifferentialMotionMagicVoltage>(*
this);
49 return c_ctre_phoenix6_RequestControlDifferentialMotionMagicVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
TargetPosition.to<
double>(),
DifferentialPosition.to<
double>(),
EnableFOC,
TargetSlot,
DifferentialSlot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
IgnoreHardwareLimits,
UseTimesync);
388 std::stringstream ss;
389 ss <<
"Control: DifferentialMotionMagicVoltage" << std::endl;
390 ss <<
" TargetPosition: " <<
TargetPosition.to<
double>() <<
" rotations" << std::endl;
391 ss <<
" DifferentialPosition: " <<
DifferentialPosition.to<
double>() <<
" rotations" << std::endl;
392 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
393 ss <<
" TargetSlot: " <<
TargetSlot << std::endl;
399 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
410 std::map<std::string, std::string> controlInfo;
411 std::stringstream ss;
412 controlInfo[
"Name"] =
GetName();
413 ss <<
TargetPosition.to<
double>(); controlInfo[
"TargetPosition"] = ss.str(); ss.str(std::string{});
414 ss <<
DifferentialPosition.to<
double>(); controlInfo[
"DifferentialPosition"] = ss.str(); ss.str(std::string{});
415 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
416 ss <<
TargetSlot; controlInfo[
"TargetSlot"] = ss.str(); ss.str(std::string{});
417 ss <<
DifferentialSlot; controlInfo[
"DifferentialSlot"] = ss.str(); ss.str(std::string{});
419 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
420 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
421 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
422 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDifferentialMotionMagicVoltage(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
Requests Motion Magic® to target a final position using a motion profile, and PID to a differential p...
Definition DifferentialMotionMagicVoltage.hpp:33
DifferentialMotionMagicVoltage & WithDifferentialPosition(units::angle::turn_t newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining...
Definition DifferentialMotionMagicVoltage.hpp:202
DifferentialMotionMagicVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition DifferentialMotionMagicVoltage.hpp:357
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition DifferentialMotionMagicVoltage.hpp:147
units::angle::turn_t DifferentialPosition
Differential position to drive toward in rotations.
Definition DifferentialMotionMagicVoltage.hpp:66
int DifferentialSlot
Select which gains are applied to the differential controller by selecting the slot.
Definition DifferentialMotionMagicVoltage.hpp:91
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition DifferentialMotionMagicVoltage.hpp:98
units::angle::turn_t TargetPosition
Average position to drive toward in rotations.
Definition DifferentialMotionMagicVoltage.hpp:59
std::string ToString() const override
Returns a string representation of the object.
Definition DifferentialMotionMagicVoltage.hpp:386
DifferentialMotionMagicVoltage & WithTargetSlot(int newTargetSlot)
Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easie...
Definition DifferentialMotionMagicVoltage.hpp:243
int TargetSlot
Select which gains are applied to the primary controller by selecting the slot.
Definition DifferentialMotionMagicVoltage.hpp:85
DifferentialMotionMagicVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition DifferentialMotionMagicVoltage.hpp:226
DifferentialMotionMagicVoltage & WithDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and...
Definition DifferentialMotionMagicVoltage.hpp:260
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition DifferentialMotionMagicVoltage.hpp:110
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition DifferentialMotionMagicVoltage.hpp:79
bool LimitForwardMotion
Set to true to force forward limiting.
Definition DifferentialMotionMagicVoltage.hpp:104
DifferentialMotionMagicVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition DifferentialMotionMagicVoltage.hpp:278
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition DifferentialMotionMagicVoltage.hpp:134
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition DifferentialMotionMagicVoltage.hpp:123
DifferentialMotionMagicVoltage & WithTargetPosition(units::angle::turn_t newTargetPosition)
Modifies this Control Request's TargetPosition parameter and returns itself for method-chaining and e...
Definition DifferentialMotionMagicVoltage.hpp:184
DifferentialMotionMagicVoltage & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition DifferentialMotionMagicVoltage.hpp:335
DifferentialMotionMagicVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition DifferentialMotionMagicVoltage.hpp:376
DifferentialMotionMagicVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition DifferentialMotionMagicVoltage.hpp:312
DifferentialMotionMagicVoltage(units::angle::turn_t TargetPosition, units::angle::turn_t DifferentialPosition)
Requests Motion Magic® to target a final position using a motion profile, and PID to a differential p...
Definition DifferentialMotionMagicVoltage.hpp:167
DifferentialMotionMagicVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition DifferentialMotionMagicVoltage.hpp:295
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition DifferentialMotionMagicVoltage.hpp:408
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition MotionMagicExpoTorqueCurrentFOC.hpp:18