DifferentialVelocityDutyCycle.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/configs/Configs.hpp"
#include "ctre/phoenix6/controls/ControlRequest.hpp"
#include "ctre/phoenix6/networking/interfaces/Control_Interface.h"
#include <sstream>
#include <units/angular_velocity.h>
#include <units/angle.h>
#include <units/frequency.h>
#include <units/time.h>
 
 
namespace ctre {
namespace phoenix6 {
namespace controls {
 
/**
 * Request PID to target velocity with a differential position setpoint.
 * 
 * This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will
 * also set the motor's differential position setpoint to the specified position.
 */
class DifferentialVelocityDutyCycle : public ControlRequest
{
    ctre::phoenix::StatusCode SendRequest(const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req) const override
    {
        if (req.get() != this)
        {
            auto const reqCast = dynamic_cast<DifferentialVelocityDutyCycle *>(req.get());
            if (reqCast != nullptr)
            {
                *reqCast = *this;
            }
            else
            {
                req = std::make_shared<DifferentialVelocityDutyCycle>(*this);
            }
        }
 
        return c_ctre_phoenix6_RequestControlDifferentialVelocityDutyCycle(network, deviceHash, UpdateFreqHz.to<double>(), TargetVelocity.to<double>(), DifferentialPosition.to<double>(), EnableFOC, TargetSlot, DifferentialSlot, OverrideBrakeDurNeutral, LimitForwardMotion, LimitReverseMotion, IgnoreHardwareLimits, UseTimesync);
    }
 
public:
    /**
     * \brief Average velocity to drive toward in rotations per second.
     */
    units::angular_velocity::turns_per_second_t TargetVelocity;
    /**
     * \brief Differential position to drive toward in rotations.
     */
    units::angle::turn_t DifferentialPosition;
    /**
     * \brief Set to true to use FOC commutation (requires Phoenix Pro), which
     * increases peak power by ~15%. Set to false to use trapezoidal commutation.
     * 
     * FOC improves motor performance by leveraging torque (current) control. 
     * However, this may be inconvenient for applications that require specifying
     * duty cycle or voltage.  CTR-Electronics has developed a hybrid method that
     * combines the performances gains of FOC while still allowing applications to
     * provide duty cycle or voltage demand.  This not to be confused with simple
     * sinusoidal control or phase voltage control which lacks the performance
     * gains.
     */
    bool EnableFOC = true;
    /**
     * \brief Select which gains are applied to the primary controller by selecting
     * the slot.  Use the configuration api to set the gain values for the selected
     * slot before enabling this feature. Slot must be within [0,2].
     */
    int TargetSlot = 0;
    /**
     * \brief Select which gains are applied to the differential controller by
     * selecting the slot.  Use the configuration api to set the gain values for the
     * selected slot before enabling this feature. Slot must be within [0,2].
     */
    int DifferentialSlot = 1;
    /**
     * \brief Set to true to static-brake the rotor when output is zero (or within
     * deadband).  Set to false to use the NeutralMode configuration setting
     * (default). This flag exists to provide the fundamental behavior of this
     * control when output is zero, which is to provide 0V to the motor.
     */
    bool OverrideBrakeDurNeutral = false;
    /**
     * \brief Set to true to force forward limiting.  This allows users to use other
     * limit switch sensors connected to robot controller.  This also allows use of
     * active sensors that require external power.
     */
    bool LimitForwardMotion = false;
    /**
     * \brief Set to true to force reverse limiting.  This allows users to use other
     * limit switch sensors connected to robot controller.  This also allows use of
     * active sensors that require external power.
     */
    bool LimitReverseMotion = false;
    /**
     * \brief Set to true to ignore hardware limit switches and the
     * LimitForwardMotion and LimitReverseMotion parameters, instead allowing
     * motion.
     * 
     * This can be useful on mechanisms such as an intake/feeder, where a limit
     * switch stops motion while intaking but should be ignored when feeding to a
     * shooter.
     * 
     * The hardware limit faults and Forward/ReverseLimit signals will still report
     * the values of the limit switches regardless of this parameter.
     */
    bool IgnoreHardwareLimits = false;
    /**
     * \brief Set to true to delay applying this control request until a timesync
     * boundary (requires Phoenix Pro and CANivore). This eliminates the impact of
     * nondeterministic network delays in exchange for a larger but deterministic
     * control latency.
     * 
     * This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs.
     * Additionally, when this is enabled, the UpdateFreqHz of this request should
     * be set to 0 Hz.
     */
    bool UseTimesync = false;
 
    /**
     * \brief The period at which this control will update at.
     * This is designated in Hertz, with a minimum of 20 Hz
     * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
     *
     * 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 Request PID to target velocity with a differential position setpoint.
     * 
     * \details This control mode will set the motor's velocity setpoint to the
     *          velocity specified by the user. It will also set the motor's
     *          differential position setpoint to the specified position.
     * 
     * \param TargetVelocity    Average velocity to drive toward in rotations per
     *                          second.
     * \param DifferentialPosition    Differential position to drive toward in
     *                                rotations.
     */
    DifferentialVelocityDutyCycle(units::angular_velocity::turns_per_second_t TargetVelocity, units::angle::turn_t DifferentialPosition) : ControlRequest{"DifferentialVelocityDutyCycle"},
        TargetVelocity{std::move(TargetVelocity)},
        DifferentialPosition{std::move(DifferentialPosition)}
    {}
    
    /**
     * \brief Modifies this Control Request's TargetVelocity parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Average velocity to drive toward in rotations per second.
     *
     * \param newTargetVelocity Parameter to modify
     * \returns Itself
     */
    DifferentialVelocityDutyCycle &WithTargetVelocity(units::angular_velocity::turns_per_second_t newTargetVelocity)
    {
        TargetVelocity = std::move(newTargetVelocity);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's DifferentialPosition parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Differential position to drive toward in rotations.
     *
     * \param newDifferentialPosition Parameter to modify
     * \returns Itself
     */
    DifferentialVelocityDutyCycle &WithDifferentialPosition(units::angle::turn_t newDifferentialPosition)
    {
        DifferentialPosition = std::move(newDifferentialPosition);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's EnableFOC parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Set to true to use FOC commutation (requires Phoenix Pro), which increases
     * peak power by ~15%. Set to false to use trapezoidal commutation.
     * 
     * FOC improves motor performance by leveraging torque (current) control. 
     * However, this may be inconvenient for applications that require specifying
     * duty cycle or voltage.  CTR-Electronics has developed a hybrid method that
     * combines the performances gains of FOC while still allowing applications to
     * provide duty cycle or voltage demand.  This not to be confused with simple
     * sinusoidal control or phase voltage control which lacks the performance
     * gains.
     *
     * \param newEnableFOC Parameter to modify
     * \returns Itself
     */
    DifferentialVelocityDutyCycle &WithEnableFOC(bool newEnableFOC)
    {
        EnableFOC = std::move(newEnableFOC);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's TargetSlot parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Select which gains are applied to the primary controller by selecting the
     * slot.  Use the configuration api to set the gain values for the selected slot
     * before enabling this feature. Slot must be within [0,2].
     *
     * \param newTargetSlot Parameter to modify
     * \returns Itself
     */
    DifferentialVelocityDutyCycle &WithTargetSlot(int newTargetSlot)
    {
        TargetSlot = std::move(newTargetSlot);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's DifferentialSlot parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Select which gains are applied to the differential controller by selecting
     * the slot.  Use the configuration api to set the gain values for the selected
     * slot before enabling this feature. Slot must be within [0,2].
     *
     * \param newDifferentialSlot Parameter to modify
     * \returns Itself
     */
    DifferentialVelocityDutyCycle &WithDifferentialSlot(int newDifferentialSlot)
    {
        DifferentialSlot = std::move(newDifferentialSlot);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Set to true to static-brake the rotor when output is zero (or within
     * deadband).  Set to false to use the NeutralMode configuration setting
     * (default). This flag exists to provide the fundamental behavior of this
     * control when output is zero, which is to provide 0V to the motor.
     *
     * \param newOverrideBrakeDurNeutral Parameter to modify
     * \returns Itself
     */
    DifferentialVelocityDutyCycle &WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
    {
        OverrideBrakeDurNeutral = std::move(newOverrideBrakeDurNeutral);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's LimitForwardMotion parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Set to true to force forward limiting.  This allows users to use other limit
     * switch sensors connected to robot controller.  This also allows use of active
     * sensors that require external power.
     *
     * \param newLimitForwardMotion Parameter to modify
     * \returns Itself
     */
    DifferentialVelocityDutyCycle &WithLimitForwardMotion(bool newLimitForwardMotion)
    {
        LimitForwardMotion = std::move(newLimitForwardMotion);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's LimitReverseMotion parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Set to true to force reverse limiting.  This allows users to use other limit
     * switch sensors connected to robot controller.  This also allows use of active
     * sensors that require external power.
     *
     * \param newLimitReverseMotion Parameter to modify
     * \returns Itself
     */
    DifferentialVelocityDutyCycle &WithLimitReverseMotion(bool newLimitReverseMotion)
    {
        LimitReverseMotion = std::move(newLimitReverseMotion);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Set to true to ignore hardware limit switches and the LimitForwardMotion and
     * LimitReverseMotion parameters, instead allowing motion.
     * 
     * This can be useful on mechanisms such as an intake/feeder, where a limit
     * switch stops motion while intaking but should be ignored when feeding to a
     * shooter.
     * 
     * The hardware limit faults and Forward/ReverseLimit signals will still report
     * the values of the limit switches regardless of this parameter.
     *
     * \param newIgnoreHardwareLimits Parameter to modify
     * \returns Itself
     */
    DifferentialVelocityDutyCycle &WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
    {
        IgnoreHardwareLimits = std::move(newIgnoreHardwareLimits);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's UseTimesync parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Set to true to delay applying this control request until a timesync boundary
     * (requires Phoenix Pro and CANivore). This eliminates the impact of
     * nondeterministic network delays in exchange for a larger but deterministic
     * control latency.
     * 
     * This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs.
     * Additionally, when this is enabled, the UpdateFreqHz of this request should
     * be set to 0 Hz.
     *
     * \param newUseTimesync Parameter to modify
     * \returns Itself
     */
    DifferentialVelocityDutyCycle &WithUseTimesync(bool newUseTimesync)
    {
        UseTimesync = std::move(newUseTimesync);
        return *this;
    }
    /**
     * \brief Sets the period at which this control will update at.
     * This is designated in Hertz, with a minimum of 20 Hz
     * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
     *
     * 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
     */
    DifferentialVelocityDutyCycle &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
    {
        std::stringstream ss;
        ss << "Control: DifferentialVelocityDutyCycle" << std::endl;
        ss << "    TargetVelocity: " << TargetVelocity.to<double>() << " rotations per second" << std::endl;
        ss << "    DifferentialPosition: " << DifferentialPosition.to<double>() << " rotations" << std::endl;
        ss << "    EnableFOC: " << EnableFOC << std::endl;
        ss << "    TargetSlot: " << TargetSlot << std::endl;
        ss << "    DifferentialSlot: " << DifferentialSlot << std::endl;
        ss << "    OverrideBrakeDurNeutral: " << OverrideBrakeDurNeutral << std::endl;
        ss << "    LimitForwardMotion: " << LimitForwardMotion << std::endl;
        ss << "    LimitReverseMotion: " << LimitReverseMotion << std::endl;
        ss << "    IgnoreHardwareLimits: " << IgnoreHardwareLimits << std::endl;
        ss << "    UseTimesync: " << UseTimesync << std::endl;
        return ss.str();
    }
 
    /**
     * \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
    {
        std::map<std::string, std::string> controlInfo;
        std::stringstream ss;
        controlInfo["Name"] = GetName();
        ss << TargetVelocity.to<double>(); controlInfo["TargetVelocity"] = ss.str(); ss.str(std::string{});
        ss << DifferentialPosition.to<double>(); controlInfo["DifferentialPosition"] = ss.str(); ss.str(std::string{});
        ss << EnableFOC; controlInfo["EnableFOC"] = ss.str(); ss.str(std::string{});
        ss << TargetSlot; controlInfo["TargetSlot"] = ss.str(); ss.str(std::string{});
        ss << DifferentialSlot; controlInfo["DifferentialSlot"] = ss.str(); ss.str(std::string{});
        ss << OverrideBrakeDurNeutral; controlInfo["OverrideBrakeDurNeutral"] = ss.str(); ss.str(std::string{});
        ss << LimitForwardMotion; controlInfo["LimitForwardMotion"] = ss.str(); ss.str(std::string{});
        ss << LimitReverseMotion; controlInfo["LimitReverseMotion"] = ss.str(); ss.str(std::string{});
        ss << IgnoreHardwareLimits; controlInfo["IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
        ss << UseTimesync; controlInfo["UseTimesync"] = ss.str(); ss.str(std::string{});
        return controlInfo;
    }
};
 
}
}
}