15#include <units/frequency.h>
16#include <units/time.h>
30class Diff_MotionMagicVoltage_Velocity :
public ControlRequest
32 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
34 if (req.get() !=
this)
36 auto const reqCast =
dynamic_cast<Diff_MotionMagicVoltage_Velocity *
>(req.get());
37 if (reqCast !=
nullptr)
43 req = std::make_shared<Diff_MotionMagicVoltage_Velocity>(*
this);
47 return c_ctre_phoenix6_RequestControlDiff_MotionMagicVoltage_Velocity(network, deviceHash, UpdateFreqHz.to<
double>(), cancelOtherRequests, AverageRequest.Position.to<
double>(), AverageRequest.EnableFOC, AverageRequest.FeedForward.to<
double>(), AverageRequest.Slot, AverageRequest.OverrideBrakeDurNeutral, AverageRequest.LimitForwardMotion, AverageRequest.LimitReverseMotion, DifferentialRequest.Velocity.to<
double>(), DifferentialRequest.Acceleration.to<
double>(), DifferentialRequest.EnableFOC, DifferentialRequest.FeedForward.to<
double>(), DifferentialRequest.Slot, DifferentialRequest.OverrideBrakeDurNeutral, DifferentialRequest.LimitForwardMotion, DifferentialRequest.LimitReverseMotion);
54 MotionMagicVoltage AverageRequest;
58 VelocityVoltage DifferentialRequest;
71 units::frequency::hertz_t UpdateFreqHz{100_Hz};
82 Diff_MotionMagicVoltage_Velocity(MotionMagicVoltage AverageRequest, VelocityVoltage DifferentialRequest) :
ControlRequest{
"Diff_MotionMagicVoltage_Velocity"},
83 AverageRequest{std::move(AverageRequest)},
84 DifferentialRequest{std::move(DifferentialRequest)}
96 Diff_MotionMagicVoltage_Velocity& WithAverageRequest(MotionMagicVoltage newAverageRequest)
98 AverageRequest = std::move(newAverageRequest);
111 Diff_MotionMagicVoltage_Velocity& WithDifferentialRequest(VelocityVoltage newDifferentialRequest)
113 DifferentialRequest = std::move(newDifferentialRequest);
130 Diff_MotionMagicVoltage_Velocity &WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
132 UpdateFreqHz = newUpdateFreqHz;
140 std::string ToString()
const override
142 std::stringstream ss;
143 ss <<
"class: Diff_MotionMagicVoltage_Velocity" << std::endl;
144 ss <<
"AverageRequest:" << std::endl;
145 ss <<
" Position: " << AverageRequest.Position.to<
double>() << std::endl;
146 ss <<
" EnableFOC: " << AverageRequest.EnableFOC << std::endl;
147 ss <<
" FeedForward: " << AverageRequest.FeedForward.to<
double>() << std::endl;
148 ss <<
" Slot: " << AverageRequest.Slot << std::endl;
149 ss <<
" OverrideBrakeDurNeutral: " << AverageRequest.OverrideBrakeDurNeutral << std::endl;
150 ss <<
" LimitForwardMotion: " << AverageRequest.LimitForwardMotion << std::endl;
151 ss <<
" LimitReverseMotion: " << AverageRequest.LimitReverseMotion << std::endl;
152 ss <<
"DifferentialRequest:" << std::endl;
153 ss <<
" Velocity: " << DifferentialRequest.Velocity.to<
double>() << std::endl;
154 ss <<
" Acceleration: " << DifferentialRequest.Acceleration.to<
double>() << std::endl;
155 ss <<
" EnableFOC: " << DifferentialRequest.EnableFOC << std::endl;
156 ss <<
" FeedForward: " << DifferentialRequest.FeedForward.to<
double>() << std::endl;
157 ss <<
" Slot: " << DifferentialRequest.Slot << std::endl;
158 ss <<
" OverrideBrakeDurNeutral: " << DifferentialRequest.OverrideBrakeDurNeutral << std::endl;
159 ss <<
" LimitForwardMotion: " << DifferentialRequest.LimitForwardMotion << std::endl;
160 ss <<
" LimitReverseMotion: " << DifferentialRequest.LimitReverseMotion << std::endl;
169 std::map<std::string, std::string> GetControlInfo()
const override
171 std::map<std::string, std::string> controlInfo;
172 std::stringstream ss;
173 controlInfo[
"Name"] =
GetName();
174 ss << AverageRequest.ToString(); controlInfo[
"AverageRequest"] = ss.str(); ss.str(std::string{});
175 ss << DifferentialRequest.ToString(); controlInfo[
"DifferentialRequest"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDiff_MotionMagicVoltage_Velocity(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double AverageRequest_Position, bool AverageRequest_EnableFOC, double AverageRequest_FeedForward, int AverageRequest_Slot, bool AverageRequest_OverrideBrakeDurNeutral, bool AverageRequest_LimitForwardMotion, bool AverageRequest_LimitReverseMotion, double DifferentialRequest_Velocity, double DifferentialRequest_Acceleration, bool DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, bool DifferentialRequest_OverrideBrakeDurNeutral, bool DifferentialRequest_LimitForwardMotion, bool DifferentialRequest_LimitReverseMotion)
std::string const & GetName() const
Definition: ControlRequest.hpp:51
ControlRequest(ControlRequest const &)=default
Definition: string_util.hpp:15