12#include <units/angular_velocity.h>
13#include <units/angle.h>
14#include <units/frequency.h>
15#include <units/time.h>
30 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const override
32 if (req.get() !=
this)
35 if (reqCast !=
nullptr)
41 req = std::make_shared<DifferentialVelocityVoltage>(*
this);
45 return c_ctre_phoenix6_RequestControlDifferentialVelocityVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
TargetVelocity.to<
double>(),
DifferentialPosition.to<
double>(),
EnableFOC,
TargetSlot,
DifferentialSlot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
IgnoreHardwareLimits,
UseTimesync);
378 std::stringstream ss;
379 ss <<
"Control: DifferentialVelocityVoltage" << std::endl;
380 ss <<
" TargetVelocity: " <<
TargetVelocity.to<
double>() <<
" rotations per second" << std::endl;
381 ss <<
" DifferentialPosition: " <<
DifferentialPosition.to<
double>() <<
" rotations" << std::endl;
382 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
383 ss <<
" TargetSlot: " <<
TargetSlot << std::endl;
389 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
400 std::map<std::string, std::string> controlInfo;
401 std::stringstream ss;
402 controlInfo[
"Name"] =
GetName();
403 ss <<
TargetVelocity.to<
double>(); controlInfo[
"TargetVelocity"] = ss.str(); ss.str(std::string{});
404 ss <<
DifferentialPosition.to<
double>(); controlInfo[
"DifferentialPosition"] = ss.str(); ss.str(std::string{});
405 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
406 ss <<
TargetSlot; controlInfo[
"TargetSlot"] = ss.str(); ss.str(std::string{});
407 ss <<
DifferentialSlot; controlInfo[
"DifferentialSlot"] = ss.str(); ss.str(std::string{});
409 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
410 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
411 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
412 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDifferentialVelocityVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, double TargetVelocity, 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 velocity with a differential position setpoint.
Definition DifferentialVelocityVoltage.hpp:29
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition DifferentialVelocityVoltage.hpp:130
DifferentialVelocityVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition DifferentialVelocityVoltage.hpp:302
DifferentialVelocityVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition DifferentialVelocityVoltage.hpp:285
DifferentialVelocityVoltage & WithTargetSlot(int newTargetSlot)
Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easie...
Definition DifferentialVelocityVoltage.hpp:233
int DifferentialSlot
Select which gains are applied to the differential controller by selecting the slot.
Definition DifferentialVelocityVoltage.hpp:87
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition DifferentialVelocityVoltage.hpp:398
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition DifferentialVelocityVoltage.hpp:143
DifferentialVelocityVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition DifferentialVelocityVoltage.hpp:347
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition DifferentialVelocityVoltage.hpp:75
DifferentialVelocityVoltage & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition DifferentialVelocityVoltage.hpp:325
DifferentialVelocityVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition DifferentialVelocityVoltage.hpp:268
DifferentialVelocityVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition DifferentialVelocityVoltage.hpp:366
DifferentialVelocityVoltage & WithTargetVelocity(units::angular_velocity::turns_per_second_t newTargetVelocity)
Modifies this Control Request's TargetVelocity parameter and returns itself for method-chaining and e...
Definition DifferentialVelocityVoltage.hpp:174
DifferentialVelocityVoltage & WithDifferentialPosition(units::angle::turn_t newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining...
Definition DifferentialVelocityVoltage.hpp:192
std::string ToString() const override
Returns a string representation of the object.
Definition DifferentialVelocityVoltage.hpp:376
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition DifferentialVelocityVoltage.hpp:94
bool LimitForwardMotion
Set to true to force forward limiting.
Definition DifferentialVelocityVoltage.hpp:100
units::angular_velocity::turns_per_second_t TargetVelocity
Average velocity to drive toward in rotations per second.
Definition DifferentialVelocityVoltage.hpp:55
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition DifferentialVelocityVoltage.hpp:106
units::angle::turn_t DifferentialPosition
Differential position to drive toward in rotations.
Definition DifferentialVelocityVoltage.hpp:62
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition DifferentialVelocityVoltage.hpp:119
DifferentialVelocityVoltage(units::angular_velocity::turns_per_second_t TargetVelocity, units::angle::turn_t DifferentialPosition)
Request PID to target velocity with a differential position setpoint.
Definition DifferentialVelocityVoltage.hpp:157
DifferentialVelocityVoltage & WithDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and...
Definition DifferentialVelocityVoltage.hpp:250
DifferentialVelocityVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition DifferentialVelocityVoltage.hpp:216
int TargetSlot
Select which gains are applied to the primary controller by selecting the slot.
Definition DifferentialVelocityVoltage.hpp:81
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition MotionMagicExpoTorqueCurrentFOC.hpp:18