12#include <units/angle.h>
13#include <units/current.h>
14#include <units/frequency.h>
15#include <units/time.h>
39 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const override
41 if (req.get() !=
this)
44 if (reqCast !=
nullptr)
50 req = std::make_shared<MotionMagicExpoTorqueCurrentFOC>(*
this);
54 return c_ctre_phoenix6_RequestControlMotionMagicExpoTorqueCurrentFOC(network, deviceHash,
UpdateFreqHz.to<
double>(),
Position.to<
double>(),
FeedForward.to<
double>(),
Slot,
OverrideCoastDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
IgnoreHardwareLimits,
UseTimesync);
213 Slot = std::move(newSlot);
339 std::stringstream ss;
340 ss <<
"Control: MotionMagicExpoTorqueCurrentFOC" << std::endl;
341 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
342 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" A" << std::endl;
343 ss <<
" Slot: " <<
Slot << std::endl;
348 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
359 std::map<std::string, std::string> controlInfo;
360 std::stringstream ss;
361 controlInfo[
"Name"] =
GetName();
362 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
363 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
364 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
366 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
367 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
368 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
369 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicExpoTorqueCurrentFOC(const char *canbus, uint32_t ecuEncoding, double updateTime, double Position, double FeedForward, int Slot, bool OverrideCoastDurNeutral, 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
Requires Phoenix Pro; Requests Motion Magic® to target a final position using an exponential motion p...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:38
MotionMagicExpoTorqueCurrentFOC & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:211
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:357
MotionMagicExpoTorqueCurrentFOC & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:327
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:110
std::string ToString() const override
Returns a string representation of the object.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:337
units::angle::turn_t Position
Position to drive toward in rotations.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:64
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:121
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:97
MotionMagicExpoTorqueCurrentFOC & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:175
MotionMagicExpoTorqueCurrentFOC & WithOverrideCoastDurNeutral(bool newOverrideCoastDurNeutral)
Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chain...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:229
int Slot
Select which gains are applied by selecting the slot.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:78
MotionMagicExpoTorqueCurrentFOC(units::angle::turn_t Position)
Requires Phoenix Pro; Requests Motion Magic® to target a final position using an exponential motion p...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:159
MotionMagicExpoTorqueCurrentFOC & WithFeedForward(units::current::ampere_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:194
MotionMagicExpoTorqueCurrentFOC & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:263
bool LimitForwardMotion
Set to true to force forward limiting.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:91
MotionMagicExpoTorqueCurrentFOC & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:246
units::current::ampere_t FeedForward
Feedforward to apply in torque current in Amperes.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:72
MotionMagicExpoTorqueCurrentFOC & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:286
bool OverrideCoastDurNeutral
Set to true to coast the rotor when output is zero (or within deadband).
Definition MotionMagicExpoTorqueCurrentFOC.hpp:85
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition MotionMagicExpoTorqueCurrentFOC.hpp:134
MotionMagicExpoTorqueCurrentFOC & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition MotionMagicExpoTorqueCurrentFOC.hpp:308
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition MotionMagicExpoTorqueCurrentFOC.hpp:18