12#include <units/angle.h>
13#include <units/voltage.h>
14#include <units/frequency.h>
15#include <units/time.h>
35 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const override
37 if (req.get() !=
this)
40 if (reqCast !=
nullptr)
46 req = std::make_shared<MotionMagicVoltage>(*
this);
50 return c_ctre_phoenix6_RequestControlMotionMagicVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
Position.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
IgnoreHardwareLimits,
UseTimesync);
237 Slot = std::move(newSlot);
363 std::stringstream ss;
364 ss <<
"Control: MotionMagicVoltage" << std::endl;
365 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
366 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
367 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" Volts" << std::endl;
368 ss <<
" Slot: " <<
Slot << std::endl;
373 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
384 std::map<std::string, std::string> controlInfo;
385 std::stringstream ss;
386 controlInfo[
"Name"] =
GetName();
387 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
388 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
389 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
390 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
392 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
393 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
394 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
395 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, double Position, 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 position using a motion profile.
Definition MotionMagicVoltage.hpp:34
MotionMagicVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition MotionMagicVoltage.hpp:332
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition MotionMagicVoltage.hpp:129
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition MotionMagicVoltage.hpp:73
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition MotionMagicVoltage.hpp:382
std::string ToString() const override
Returns a string representation of the object.
Definition MotionMagicVoltage.hpp:361
MotionMagicVoltage & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition MotionMagicVoltage.hpp:176
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition MotionMagicVoltage.hpp:105
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition MotionMagicVoltage.hpp:80
MotionMagicVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition MotionMagicVoltage.hpp:200
MotionMagicVoltage(units::angle::turn_t Position)
Requests Motion Magic® to target a final position using a motion profile.
Definition MotionMagicVoltage.hpp:160
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition MotionMagicVoltage.hpp:142
MotionMagicVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition MotionMagicVoltage.hpp:270
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition MotionMagicVoltage.hpp:93
MotionMagicVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition MotionMagicVoltage.hpp:253
units::angle::turn_t Position
Position to drive toward in rotations.
Definition MotionMagicVoltage.hpp:60
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition MotionMagicVoltage.hpp:118
bool LimitForwardMotion
Set to true to force forward limiting.
Definition MotionMagicVoltage.hpp:99
MotionMagicVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition MotionMagicVoltage.hpp:287
MotionMagicVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition MotionMagicVoltage.hpp:235
int Slot
Select which gains are applied by selecting the slot.
Definition MotionMagicVoltage.hpp:86
MotionMagicVoltage & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition MotionMagicVoltage.hpp:310
MotionMagicVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition MotionMagicVoltage.hpp:218
MotionMagicVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition MotionMagicVoltage.hpp:351
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition MotionMagicExpoTorqueCurrentFOC.hpp:18