13#include <units/angle.h>
14#include <units/angular_velocity.h>
15#include <units/angular_acceleration.h>
16#include <units/dimensionless.h>
17#include <units/frequency.h>
18#include <units/time.h>
39 bool ApplyConfigsOnRequest{
false};
41 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
43 if (req.get() !=
this)
46 if (reqCast !=
nullptr)
52 req = std::make_shared<DynamicMotionMagicDutyCycle>(*
this);
58 std::string strs{ss.str()};
60 ApplyConfigsOnRequest =
false;
61 return c_ctre_phoenix6_RequestControlDynamicMotionMagicDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
Position.to<
double>(),
Velocity.to<
double>(),
Acceleration.to<
double>(),
Jerk.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral);
73 units::angular_velocity::turns_per_second_t
Velocity;
78 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
83 units::dimensionless::scalar_t
Jerk;
218 DynamicMotionMagicDutyCycle(units::angle::turn_t
Position, units::angular_velocity::turns_per_second_t
Velocity, units::angular_acceleration::turns_per_second_squared_t
Acceleration, units::dimensionless::scalar_t
Jerk) :
DynamicMotionMagicDutyCycle{
Position,
Velocity,
Acceleration,
Jerk, true, 0.0, 0, false}
265 Jerk = std::move(newJerk);
301 Slot = std::move(newSlot);
342 std::stringstream ss;
343 ss <<
"class: DynamicMotionMagicDutyCycle" << std::endl;
344 ss <<
"Position: " <<
Position.to<
double>() << std::endl;
345 ss <<
"Velocity: " <<
Velocity.to<
double>() << std::endl;
346 ss <<
"Acceleration: " <<
Acceleration.to<
double>() << std::endl;
347 ss <<
"Jerk: " <<
Jerk.to<
double>() << std::endl;
348 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
349 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
350 ss <<
"Slot: " <<
Slot << std::endl;
369 std::map<std::string, std::string> controlInfo;
370 std::stringstream ss;
371 controlInfo[
"Name"] =
GetName();
372 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
373 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
374 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
375 ss <<
Jerk.to<
double>(); controlInfo[
"Jerk"] = ss.str(); ss.str(std::string{});
376 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
377 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
378 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_requestConfigApply(const char *canbus, uint32_t ecuEncoding, double timeoutSeconds, const char *str, uint32_t strlen, bool forceApply)
CTREXPORT int c_ctre_phoenix6_RequestControlDynamicMotionMagicDutyCycle(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double Position, double Velocity, double Acceleration, double Jerk, bool EnableFOC, double FeedForward, int Slot, bool OverrideBrakeDurNeutral)
Abstract Control Request class that other control requests extend for use.
Definition: ControlRequest.hpp:28
std::string const & GetName() const
Definition: ControlRequest.hpp:51
Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition: DynamicMotionMagicDutyCycle.hpp:38
std::string ToString() const override
Returns a string representation of the object.
Definition: DynamicMotionMagicDutyCycle.hpp:340
units::angular_velocity::turns_per_second_t Velocity
Cruise velocity for profiling.
Definition: DynamicMotionMagicDutyCycle.hpp:73
units::angular_acceleration::turns_per_second_squared_t Acceleration
Acceleration for profiling.
Definition: DynamicMotionMagicDutyCycle.hpp:78
units::time::second_t ConfigTimeout
The timeout when sending configs associated with this control.
Definition: DynamicMotionMagicDutyCycle.hpp:118
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: DynamicMotionMagicDutyCycle.hpp:111
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: DynamicMotionMagicDutyCycle.hpp:131
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: DynamicMotionMagicDutyCycle.hpp:94
DynamicMotionMagicDutyCycle & WithVelocity(units::angular_velocity::turns_per_second_t newVelocity)
Modifies this Control Request's Velocity parameter and returns itself for method-chaining and easier ...
Definition: DynamicMotionMagicDutyCycle.hpp:239
DynamicMotionMagicDutyCycle & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: DynamicMotionMagicDutyCycle.hpp:299
DynamicMotionMagicDutyCycle & WithAcceleration(units::angular_acceleration::turns_per_second_squared_t newAcceleration)
Modifies this Control Request's Acceleration parameter and returns itself for method-chaining and eas...
Definition: DynamicMotionMagicDutyCycle.hpp:251
DynamicMotionMagicDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: DynamicMotionMagicDutyCycle.hpp:330
DynamicMotionMagicDutyCycle(units::angle::turn_t Position, units::angular_velocity::turns_per_second_t Velocity, units::angular_acceleration::turns_per_second_squared_t Acceleration, units::dimensionless::scalar_t Jerk, bool EnableFOC, units::dimensionless::scalar_t FeedForward, int Slot, bool OverrideBrakeDurNeutral)
Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition: DynamicMotionMagicDutyCycle.hpp:182
DynamicMotionMagicDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: DynamicMotionMagicDutyCycle.hpp:311
DynamicMotionMagicDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: DynamicMotionMagicDutyCycle.hpp:275
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: DynamicMotionMagicDutyCycle.hpp:367
DynamicMotionMagicDutyCycle & WithFeedForward(units::dimensionless::scalar_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: DynamicMotionMagicDutyCycle.hpp:287
DynamicMotionMagicDutyCycle(units::angle::turn_t Position, units::angular_velocity::turns_per_second_t Velocity, units::angular_acceleration::turns_per_second_squared_t Acceleration, units::dimensionless::scalar_t Jerk)
Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion p...
Definition: DynamicMotionMagicDutyCycle.hpp:218
DynamicMotionMagicDutyCycle & WithJerk(units::dimensionless::scalar_t newJerk)
Modifies this Control Request's Jerk parameter and returns itself for method-chaining and easier to u...
Definition: DynamicMotionMagicDutyCycle.hpp:263
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: DynamicMotionMagicDutyCycle.hpp:68
int Slot
Select which gains are applied by selecting the slot.
Definition: DynamicMotionMagicDutyCycle.hpp:104
DynamicMotionMagicDutyCycle & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: DynamicMotionMagicDutyCycle.hpp:227
void ForceApplyConfigs()
Forces configs to be applied the next time this is used in a setControl.
Definition: DynamicMotionMagicDutyCycle.hpp:360
units::dimensionless::scalar_t FeedForward
Feedforward to apply in fractional units between -1 and +1.
Definition: DynamicMotionMagicDutyCycle.hpp:98
units::dimensionless::scalar_t Jerk
Jerk for profiling.
Definition: DynamicMotionMagicDutyCycle.hpp:83
Definition: ManualEvent.hpp:12