12#include <units/angular_velocity.h>
13#include <units/angular_acceleration.h>
14#include <units/voltage.h>
15#include <units/frequency.h>
16#include <units/time.h>
42 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const override
44 if (req.get() !=
this)
47 if (reqCast !=
nullptr)
53 req = std::make_shared<MotionMagicVelocityVoltage>(*
this);
57 return c_ctre_phoenix6_RequestControlMotionMagicVelocityVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
Velocity.to<
double>(),
Acceleration.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
IgnoreHardwareLimits,
UseTimesync);
68 units::angular_velocity::turns_per_second_t
Velocity;
78 units::angular_acceleration::turns_per_second_squared_t
Acceleration = 0.0_tr_per_s_sq;
286 Slot = std::move(newSlot);
412 std::stringstream ss;
413 ss <<
"Control: MotionMagicVelocityVoltage" << std::endl;
414 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << std::endl;
415 ss <<
" Acceleration: " <<
Acceleration.to<
double>() <<
" rotations per second²" << std::endl;
416 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
417 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" Volts" << std::endl;
418 ss <<
" Slot: " <<
Slot << std::endl;
423 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
434 std::map<std::string, std::string> controlInfo;
435 std::stringstream ss;
436 controlInfo[
"Name"] =
GetName();
437 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
438 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
439 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
440 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
441 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
443 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
444 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
445 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
446 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicVelocityVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, double Velocity, double Acceleration, 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
Requests Motion Magic® to target a final velocity using a motion profile.
Definition MotionMagicVelocityVoltage.hpp:41
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition MotionMagicVelocityVoltage.hpp:111
bool LimitForwardMotion
Set to true to force forward limiting.
Definition MotionMagicVelocityVoltage.hpp:117
MotionMagicVelocityVoltage(units::angular_velocity::turns_per_second_t Velocity)
Requests Motion Magic® to target a final velocity using a motion profile.
Definition MotionMagicVelocityVoltage.hpp:187
MotionMagicVelocityVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition MotionMagicVelocityVoltage.hpp:284
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition MotionMagicVelocityVoltage.hpp:136
MotionMagicVelocityVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition MotionMagicVelocityVoltage.hpp:319
std::string ToString() const override
Returns a string representation of the object.
Definition MotionMagicVelocityVoltage.hpp:410
MotionMagicVelocityVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition MotionMagicVelocityVoltage.hpp:400
MotionMagicVelocityVoltage & 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 MotionMagicVelocityVoltage.hpp:225
MotionMagicVelocityVoltage & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition MotionMagicVelocityVoltage.hpp:359
MotionMagicVelocityVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition MotionMagicVelocityVoltage.hpp:381
MotionMagicVelocityVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition MotionMagicVelocityVoltage.hpp:336
units::angular_velocity::turns_per_second_t Velocity
Target velocity to drive toward in rotations per second.
Definition MotionMagicVelocityVoltage.hpp:68
MotionMagicVelocityVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition MotionMagicVelocityVoltage.hpp:302
int Slot
Select which gains are applied by selecting the slot.
Definition MotionMagicVelocityVoltage.hpp:104
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition MotionMagicVelocityVoltage.hpp:160
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition MotionMagicVelocityVoltage.hpp:91
MotionMagicVelocityVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition MotionMagicVelocityVoltage.hpp:249
units::angular_acceleration::turns_per_second_squared_t Acceleration
This is the absolute Acceleration to use generating the profile.
Definition MotionMagicVelocityVoltage.hpp:78
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition MotionMagicVelocityVoltage.hpp:147
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition MotionMagicVelocityVoltage.hpp:123
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition MotionMagicVelocityVoltage.hpp:98
MotionMagicVelocityVoltage & 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 MotionMagicVelocityVoltage.hpp:204
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition MotionMagicVelocityVoltage.hpp:432
MotionMagicVelocityVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition MotionMagicVelocityVoltage.hpp:267
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition MotionMagicExpoTorqueCurrentFOC.hpp:18