12#include <units/dimensionless.h>
13#include <units/frequency.h>
14#include <units/time.h>
28 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const override
30 if (req.get() !=
this)
32 auto const reqCast =
dynamic_cast<DutyCycleOut *
>(req.get());
33 if (reqCast !=
nullptr)
39 req = std::make_shared<DutyCycleOut>(*
this);
54 units::dimensionless::scalar_t
Output;
152 Output = std::move(newOutput);
302 std::stringstream ss;
303 ss <<
"Control: DutyCycleOut" << std::endl;
304 ss <<
" Output: " <<
Output.to<
double>() <<
" fractional" << std::endl;
305 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
310 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
321 std::map<std::string, std::string> controlInfo;
322 std::stringstream ss;
323 controlInfo[
"Name"] =
GetName();
324 ss <<
Output.to<
double>(); controlInfo[
"Output"] = ss.str(); ss.str(std::string{});
325 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
327 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
328 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
329 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
330 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDutyCycleOut(const char *canbus, uint32_t ecuEncoding, double updateTime, double Output, bool EnableFOC, 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 a specified motor duty cycle.
Definition DutyCycleOut.hpp:27
DutyCycleOut & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition DutyCycleOut.hpp:226
bool LimitForwardMotion
Set to true to force forward limiting.
Definition DutyCycleOut.hpp:80
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition DutyCycleOut.hpp:74
DutyCycleOut & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition DutyCycleOut.hpp:290
units::dimensionless::scalar_t Output
Proportion of supply voltage to apply in fractional units between -1 and +1.
Definition DutyCycleOut.hpp:54
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition DutyCycleOut.hpp:123
DutyCycleOut & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition DutyCycleOut.hpp:192
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition DutyCycleOut.hpp:110
DutyCycleOut & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition DutyCycleOut.hpp:174
DutyCycleOut & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition DutyCycleOut.hpp:249
DutyCycleOut(units::dimensionless::scalar_t Output)
Request a specified motor duty cycle.
Definition DutyCycleOut.hpp:134
DutyCycleOut & WithOutput(units::dimensionless::scalar_t newOutput)
Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to...
Definition DutyCycleOut.hpp:150
std::string ToString() const override
Returns a string representation of the object.
Definition DutyCycleOut.hpp:300
DutyCycleOut & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition DutyCycleOut.hpp:271
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition DutyCycleOut.hpp:99
DutyCycleOut & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition DutyCycleOut.hpp:209
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition DutyCycleOut.hpp:67
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition DutyCycleOut.hpp:86
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition DutyCycleOut.hpp:319
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition MotionMagicExpoTorqueCurrentFOC.hpp:18