Diff_MotionMagicVelocityDutyCycle_Position.hpp

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/*
 * Copyright (C) Cross The Road Electronics.  All rights reserved.
 * License information can be found in CTRE_LICENSE.txt
 * For support and suggestions contact support@ctr-electronics.com or file
 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases
 */
#pragma once
 
#include "ctre/phoenix6/controls/ControlRequest.hpp"
#include "ctre/phoenix6/controls/MotionMagicVelocityDutyCycle.hpp"
#include "ctre/phoenix6/controls/PositionDutyCycle.hpp"
 
namespace ctre {
namespace phoenix6 {
namespace controls {
namespace compound {
 
/**
 * \private
 * Requires Phoenix Pro and CANivore;
 * Differential control with Motion Magic® Velocity average target and position
 * difference target using duty cycle control.
 */
class Diff_MotionMagicVelocityDutyCycle_Position final : public ControlRequest {
    ctre::phoenix::StatusCode SendRequest(const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req) const override;
 
public:
    /**
     * \brief Average MotionMagicVelocityDutyCycle request of the mechanism.
     */
    MotionMagicVelocityDutyCycle AverageRequest;
    /**
     * \brief Differential PositionDutyCycle request of the mechanism.
     */
    PositionDutyCycle DifferentialRequest;
 
    /**
     * \brief The frequency at which this control will update.
     * This is designated in Hertz, with a minimum of 20 Hz
     * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
     * Some update frequencies are not supported and will be
     * promoted up to the next highest supported frequency.
     *
     * If this field is set to 0 Hz, the control request will
     * be sent immediately as a one-shot frame. This may be useful
     * for advanced applications that require outputs to be
     * synchronized with data acquisition. In this case, we
     * recommend not exceeding 50 ms between control calls.
     */
    units::frequency::hertz_t UpdateFreqHz{100_Hz};
 
    /**
     * \brief Requires Phoenix Pro and CANivore;
     *        Differential control with Motion Magic® Velocity average target and
     *        position difference target using duty cycle control.
     * 
     * \param AverageRequest Average MotionMagicVelocityDutyCycle request of the
     *                       mechanism.
     * \param DifferentialRequest Differential PositionDutyCycle request of the
     *                            mechanism.
     */
    constexpr Diff_MotionMagicVelocityDutyCycle_Position(MotionMagicVelocityDutyCycle AverageRequest, PositionDutyCycle DifferentialRequest) : ControlRequest{},
        AverageRequest{std::move(AverageRequest)},
        DifferentialRequest{std::move(DifferentialRequest)}
    {}
 
    constexpr ~Diff_MotionMagicVelocityDutyCycle_Position() override {}
 
    /**
     * \brief Gets the name of this control request.
     *
     * \returns Name of the control request
     */
    constexpr std::string_view GetName() const override
    {
        return "Diff_MotionMagicVelocityDutyCycle_Position";
    }
    
    /**
     * \brief Modifies this Control Request's AverageRequest parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Average MotionMagicVelocityDutyCycle request of the mechanism.
     *
     * \param newAverageRequest Parameter to modify
     * \returns Itself
     */
    constexpr Diff_MotionMagicVelocityDutyCycle_Position &WithAverageRequest(MotionMagicVelocityDutyCycle newAverageRequest)
    {
        AverageRequest = std::move(newAverageRequest);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's DifferentialRequest parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Differential PositionDutyCycle request of the mechanism.
     *
     * \param newDifferentialRequest Parameter to modify
     * \returns Itself
     */
    constexpr Diff_MotionMagicVelocityDutyCycle_Position &WithDifferentialRequest(PositionDutyCycle newDifferentialRequest)
    {
        DifferentialRequest = std::move(newDifferentialRequest);
        return *this;
    }
 
    /**
     * \brief Sets the frequency at which this control will update.
     * This is designated in Hertz, with a minimum of 20 Hz
     * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
     * Some update frequencies are not supported and will be
     * promoted up to the next highest supported frequency.
     *
     * If this field is set to 0 Hz, the control request will
     * be sent immediately as a one-shot frame. This may be useful
     * for advanced applications that require outputs to be
     * synchronized with data acquisition. In this case, we
     * recommend not exceeding 50 ms between control calls.
     *
     * \param newUpdateFreqHz Parameter to modify
     * \returns Itself
     */
    constexpr Diff_MotionMagicVelocityDutyCycle_Position &WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
    {
        UpdateFreqHz = newUpdateFreqHz;
        return *this;
    }
 
    /**
     * \brief Returns a string representation of the object.
     *
     * \returns a string representation of the object.
     */
    std::string ToString() const override;
 
    /**
     * \brief Gets information about this control request.
     *
     * \returns Map of control parameter names and corresponding applied values
     */
    std::map<std::string, std::string> GetControlInfo() const override;
};
 
}
}
}
}