DynamicMotionMagicExpoDutyCycle.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 <units/frequency.h>
#include <units/time.h>
#include <units/angle.h>
#include "ctre/unit/pid_ff.h"
#include <units/angular_velocity.h>
#include <units/dimensionless.h>
 
namespace ctre {
namespace phoenix6 {
namespace controls {
 
/**
 * Requires Phoenix Pro and CANivore;
 * Requests Motion Magic® Expo to target a final position using an exponential
 * motion profile.  This dynamic request allows runtime changes to the profile
 * kV, kA, and (optional) Cruise Velocity.  Users can optionally provide a duty
 * cycle feedforward.
 * 
 * Motion Magic® Expo produces a motion profile in real-time while attempting to honor the specified Cruise
 * Velocity (optional) and the mechanism kV and kA.  Note that unlike the slot gains, the Expo_kV and Expo_kA
 * parameters are always in output units of Volts.
 * 
 * Setting the Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on
 * Expo_kV.  This control mode does not use the Acceleration or Jerk configs.
 * 
 * Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This
 * control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the
 * numerator:  +1.0 represents full forward output.
 */
class DynamicMotionMagicExpoDutyCycle final : public ControlRequest {
    ctre::phoenix::StatusCode SendRequest(const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req) const override;
 
public:
    /**
     * \brief Position to drive toward in rotations.
     * 
     * - Units: rotations
     * 
     */
    units::angle::turn_t Position;
    /**
     * \brief Mechanism kV for profiling.  Unlike the kV slot gain, this is always
     * in units of V/rps.
     * 
     * This represents the amount of voltage necessary to hold a velocity.  In terms
     * of the Motion Magic® Expo profile, a higher kV results in a slower maximum
     * velocity.
     * 
     * - Units: V/rps
     * 
     */
    ctre::unit::volts_per_turn_per_second_t kV;
    /**
     * \brief Mechanism kA for profiling.  Unlike the kA slot gain, this is always
     * in units of V/rps².
     * 
     * This represents the amount of voltage necessary to achieve an acceleration. 
     * In terms of the Motion Magic® Expo profile, a higher kA results in a slower
     * acceleration.
     * 
     * - Units: V/rps²
     * 
     */
    ctre::unit::volts_per_turn_per_second_squared_t kA;
    /**
     * \brief Cruise velocity for profiling.  The signage does not matter as the
     * device will use the absolute value for profile generation.  Setting this to 0
     * will allow the profile to run to the max possible velocity based on Expo_kV.
     * 
     * - Units: rotations per second
     * 
     */
    units::angular_velocity::turns_per_second_t Velocity = 0_tps;
    /**
     * \brief Set to true to use FOC commutation (requires Phoenix Pro), which
     * increases peak power by ~15% on supported devices (see
     * hardware#traits#SupportsFOC). 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 Feedforward to apply in fractional units between -1 and +1. This is
     * added to the output of the onboard feedforward terms.
     * 
     * - Units: fractional
     * 
     */
    units::dimensionless::scalar_t FeedForward = 0.0;
    /**
     * \brief Select which gains are applied 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 Slot = 0;
    /**
     * \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 ignore software limits, instead allowing motion.
     * 
     * This can be useful when calibrating the zero point of a mechanism such as an
     * elevator.
     * 
     * The software limit faults will still report the values of the software limits
     * regardless of this parameter.
     */
    bool IgnoreSoftwareLimits = 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 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;
     *        Requests Motion Magic® Expo to target a final position using an
     *        exponential motion profile.  This dynamic request allows runtime
     *        changes to the profile kV, kA, and (optional) Cruise Velocity.  Users
     *        can optionally provide a duty cycle feedforward.
     * 
     * \details Motion Magic® Expo produces a motion profile in real-time while
     *          attempting to honor the specified Cruise Velocity (optional) and the
     *          mechanism kV and kA.  Note that unlike the slot gains, the Expo_kV
     *          and Expo_kA parameters are always in output units of Volts.
     *          
     *          Setting the Cruise Velocity to 0 will allow the profile to run to
     *          the max possible velocity based on Expo_kV.  This control mode does
     *          not use the Acceleration or Jerk configs.
     *          
     *          Target position can be changed on-the-fly and Motion Magic® will do
     *          its best to adjust the profile. This control mode is duty cycle
     *          based, so relevant closed-loop gains will use fractional duty cycle
     *          for the numerator:  +1.0 represents full forward output.
     * 
     * \param Position Position to drive toward in rotations.
     * \param kV Mechanism kV for profiling.  Unlike the kV slot gain, this is
     *           always in units of V/rps.
     *           
     *           This represents the amount of voltage necessary to hold a velocity.
     *            In terms of the Motion Magic® Expo profile, a higher kV results in
     *           a slower maximum velocity.
     * \param kA Mechanism kA for profiling.  Unlike the kA slot gain, this is
     *           always in units of V/rps².
     *           
     *           This represents the amount of voltage necessary to achieve an
     *           acceleration.  In terms of the Motion Magic® Expo profile, a higher
     *           kA results in a slower acceleration.
     */
    constexpr DynamicMotionMagicExpoDutyCycle(units::angle::turn_t Position, ctre::unit::volts_per_turn_per_second_t kV, ctre::unit::volts_per_turn_per_second_squared_t kA) : ControlRequest{},
        Position{std::move(Position)},
        kV{std::move(kV)},
        kA{std::move(kA)}
    {}
 
    constexpr ~DynamicMotionMagicExpoDutyCycle() override {}
 
    /**
     * \brief Gets the name of this control request.
     *
     * \returns Name of the control request
     */
    constexpr std::string_view GetName() const override
    {
        return "DynamicMotionMagicExpoDutyCycle";
    }
    
    /**
     * \brief Modifies this Control Request's Position parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Position to drive toward in rotations.
     * 
     * - Units: rotations
     * 
     *
     * \param newPosition Parameter to modify
     * \returns Itself
     */
    constexpr DynamicMotionMagicExpoDutyCycle &WithPosition(units::angle::turn_t newPosition)
    {
        Position = std::move(newPosition);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's kV parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Mechanism kV for profiling.  Unlike the kV slot gain, this is always in units
     * of V/rps.
     * 
     * This represents the amount of voltage necessary to hold a velocity.  In terms
     * of the Motion Magic® Expo profile, a higher kV results in a slower maximum
     * velocity.
     * 
     * - Units: V/rps
     * 
     *
     * \param newKV Parameter to modify
     * \returns Itself
     */
    constexpr DynamicMotionMagicExpoDutyCycle &WithKV(ctre::unit::volts_per_turn_per_second_t newKV)
    {
        kV = std::move(newKV);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's kA parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Mechanism kA for profiling.  Unlike the kA slot gain, this is always in units
     * of V/rps².
     * 
     * This represents the amount of voltage necessary to achieve an acceleration. 
     * In terms of the Motion Magic® Expo profile, a higher kA results in a slower
     * acceleration.
     * 
     * - Units: V/rps²
     * 
     *
     * \param newKA Parameter to modify
     * \returns Itself
     */
    constexpr DynamicMotionMagicExpoDutyCycle &WithKA(ctre::unit::volts_per_turn_per_second_squared_t newKA)
    {
        kA = std::move(newKA);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's Velocity parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Cruise velocity for profiling.  The signage does not matter as the device
     * will use the absolute value for profile generation.  Setting this to 0 will
     * allow the profile to run to the max possible velocity based on Expo_kV.
     * 
     * - Units: rotations per second
     * 
     *
     * \param newVelocity Parameter to modify
     * \returns Itself
     */
    constexpr DynamicMotionMagicExpoDutyCycle &WithVelocity(units::angular_velocity::turns_per_second_t newVelocity)
    {
        Velocity = std::move(newVelocity);
        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% on supported devices (see hardware#traits#SupportsFOC).
     * 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
     */
    constexpr DynamicMotionMagicExpoDutyCycle &WithEnableFOC(bool newEnableFOC)
    {
        EnableFOC = std::move(newEnableFOC);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's FeedForward parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Feedforward to apply in fractional units between -1 and +1. This is added to
     * the output of the onboard feedforward terms.
     * 
     * - Units: fractional
     * 
     *
     * \param newFeedForward Parameter to modify
     * \returns Itself
     */
    constexpr DynamicMotionMagicExpoDutyCycle &WithFeedForward(units::dimensionless::scalar_t newFeedForward)
    {
        FeedForward = std::move(newFeedForward);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's Slot parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Select which gains are applied 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 newSlot Parameter to modify
     * \returns Itself
     */
    constexpr DynamicMotionMagicExpoDutyCycle &WithSlot(int newSlot)
    {
        Slot = std::move(newSlot);
        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
     */
    constexpr DynamicMotionMagicExpoDutyCycle &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
     */
    constexpr DynamicMotionMagicExpoDutyCycle &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
     */
    constexpr DynamicMotionMagicExpoDutyCycle &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
     */
    constexpr DynamicMotionMagicExpoDutyCycle &WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
    {
        IgnoreHardwareLimits = std::move(newIgnoreHardwareLimits);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's IgnoreSoftwareLimits parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Set to true to ignore software limits, instead allowing motion.
     * 
     * This can be useful when calibrating the zero point of a mechanism such as an
     * elevator.
     * 
     * The software limit faults will still report the values of the software limits
     * regardless of this parameter.
     *
     * \param newIgnoreSoftwareLimits Parameter to modify
     * \returns Itself
     */
    constexpr DynamicMotionMagicExpoDutyCycle &WithIgnoreSoftwareLimits(bool newIgnoreSoftwareLimits)
    {
        IgnoreSoftwareLimits = std::move(newIgnoreSoftwareLimits);
        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
     */
    constexpr DynamicMotionMagicExpoDutyCycle &WithUseTimesync(bool newUseTimesync)
    {
        UseTimesync = std::move(newUseTimesync);
        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 DynamicMotionMagicExpoDutyCycle &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;
};
 
}
}
}