13#include <units/dimensionless.h>
14#include <units/angle.h>
15#include <units/frequency.h>
16#include <units/time.h>
32 bool ApplyConfigsOnRequest{
false};
34 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
36 if (req.get() !=
this)
39 if (reqCast !=
nullptr)
45 req = std::make_shared<DifferentialDutyCycle>(*
this);
51 std::string strs{ss.str()};
53 ApplyConfigsOnRequest =
false;
257 std::stringstream ss;
258 ss <<
"class: DifferentialDutyCycle" << std::endl;
259 ss <<
"TargetOutput: " <<
TargetOutput.to<
double>() << std::endl;
261 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
281 std::map<std::string, std::string> controlInfo;
282 std::stringstream ss;
283 controlInfo[
"Name"] =
GetName();
284 ss <<
TargetOutput.to<
double>(); controlInfo[
"TargetOutput"] = ss.str(); ss.str(std::string{});
285 ss <<
DifferentialPosition.to<
double>(); controlInfo[
"DifferentialPosition"] = ss.str(); ss.str(std::string{});
286 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
287 ss <<
DifferentialSlot; controlInfo[
"DifferentialSlot"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDifferentialDutyCycle(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double TargetOutput, double DifferentialPosition, bool EnableFOC, int DifferentialSlot, bool OverrideBrakeDurNeutral)
CTREXPORT int c_ctre_phoenix6_requestConfigApply(const char *canbus, uint32_t ecuEncoding, double timeoutSeconds, const char *str, uint32_t strlen, bool forceApply)
Abstract Control Request class that other control requests extend for use.
Definition: ControlRequest.hpp:28
std::string const & GetName() const
Definition: ControlRequest.hpp:51
Request a specified motor duty cycle with a differential position closed-loop.
Definition: DifferentialDutyCycle.hpp:31
std::string ToString() const override
Returns a string representation of the object.
Definition: DifferentialDutyCycle.hpp:255
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: DifferentialDutyCycle.hpp:279
DifferentialDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: DifferentialDutyCycle.hpp:245
units::angle::turn_t DifferentialPosition
Differential position to drive towards in rotations.
Definition: DifferentialDutyCycle.hpp:65
int DifferentialSlot
Select which gains are applied to the differential controller by selecting the slot.
Definition: DifferentialDutyCycle.hpp:82
DifferentialDutyCycle(units::dimensionless::scalar_t TargetOutput, units::angle::turn_t DifferentialPosition, bool EnableFOC, int DifferentialSlot, bool OverrideBrakeDurNeutral)
Request a specified motor duty cycle with a differential position closed-loop.
Definition: DifferentialDutyCycle.hpp:148
DifferentialDutyCycle(units::dimensionless::scalar_t TargetOutput, units::angle::turn_t DifferentialPosition)
Request a specified motor duty cycle with a differential position closed-loop.
Definition: DifferentialDutyCycle.hpp:169
DifferentialDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: DifferentialDutyCycle.hpp:226
DifferentialDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: DifferentialDutyCycle.hpp:202
DifferentialDutyCycle & WithDifferentialPosition(units::angle::turn_t newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining...
Definition: DifferentialDutyCycle.hpp:190
DifferentialDutyCycle & WithDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and...
Definition: DifferentialDutyCycle.hpp:214
DifferentialDutyCycle & WithTargetOutput(units::dimensionless::scalar_t newTargetOutput)
Modifies this Control Request's TargetOutput parameter and returns itself for method-chaining and eas...
Definition: DifferentialDutyCycle.hpp:178
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: DifferentialDutyCycle.hpp:76
units::time::second_t ConfigTimeout
The timeout when sending configs associated with this control.
Definition: DifferentialDutyCycle.hpp:96
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: DifferentialDutyCycle.hpp:109
void ForceApplyConfigs()
Forces configs to be applied the next time this is used in a setControl.
Definition: DifferentialDutyCycle.hpp:272
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: DifferentialDutyCycle.hpp:89
units::dimensionless::scalar_t TargetOutput
Proportion of supply voltage to apply in fractional units between -1 and +1.
Definition: DifferentialDutyCycle.hpp:61
Definition: ManualEvent.hpp:12