DifferentialMotionMagicDutyCycle.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/networking/interfaces/Control_Interface.h"
#include <sstream>
#include <units/angle.h>
#include <units/frequency.h>
#include <units/time.h>
 
 
namespace ctre {
namespace phoenix6 {
namespace controls {
 
/**
 * Requests Motion Magic® to target a final position using a motion profile, and
 * PID to a differential position setpoint.
 * 
 * Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity,
 * Acceleration, and (optional) Jerk specified via the Motion Magic® configuration values.  This control mode
 * does not use the Expo_kV or Expo_kA 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 DifferentialMotionMagicDutyCycle : 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<DifferentialMotionMagicDutyCycle *>(req.get());
            if (reqCast != nullptr)
            {
                *reqCast = *this;
            }
            else
            {
                req = std::make_shared<DifferentialMotionMagicDutyCycle>(*this);
            }
        }
 
        return c_ctre_phoenix6_RequestControlDifferentialMotionMagicDutyCycle(network, deviceHash, UpdateFreqHz.to<double>(), TargetPosition.to<double>(), DifferentialPosition.to<double>(), EnableFOC, TargetSlot, DifferentialSlot, OverrideBrakeDurNeutral, LimitForwardMotion, LimitReverseMotion, IgnoreHardwareLimits, UseTimesync);
    }
 
public:
    /**
     * \brief Average position to drive toward in rotations.
     */
    units::angle::turn_t TargetPosition;
    /**
     * \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 Requests Motion Magic® to target a final position using a motion
     *        profile, and PID to a differential position setpoint.
     * 
     * \details Motion Magic® produces a motion profile in real-time while
     *          attempting to honor the Cruise Velocity, Acceleration, and
     *          (optional) Jerk specified via the Motion Magic® configuration
     *          values.  This control mode does not use the Expo_kV or Expo_kA
     *          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 TargetPosition    Average position to drive toward in rotations.
     * \param DifferentialPosition    Differential position to drive toward in
     *                                rotations.
     */
    DifferentialMotionMagicDutyCycle(units::angle::turn_t TargetPosition, units::angle::turn_t DifferentialPosition) : ControlRequest{"DifferentialMotionMagicDutyCycle"},
        TargetPosition{std::move(TargetPosition)},
        DifferentialPosition{std::move(DifferentialPosition)}
    {}
    
    /**
     * \brief Modifies this Control Request's TargetPosition parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Average position to drive toward in rotations.
     *
     * \param newTargetPosition Parameter to modify
     * \returns Itself
     */
    DifferentialMotionMagicDutyCycle &WithTargetPosition(units::angle::turn_t newTargetPosition)
    {
        TargetPosition = std::move(newTargetPosition);
        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
     */
    DifferentialMotionMagicDutyCycle &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
     */
    DifferentialMotionMagicDutyCycle &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
     */
    DifferentialMotionMagicDutyCycle &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
     */
    DifferentialMotionMagicDutyCycle &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
     */
    DifferentialMotionMagicDutyCycle &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
     */
    DifferentialMotionMagicDutyCycle &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
     */
    DifferentialMotionMagicDutyCycle &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
     */
    DifferentialMotionMagicDutyCycle &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
     */
    DifferentialMotionMagicDutyCycle &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
     */
    DifferentialMotionMagicDutyCycle &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: DifferentialMotionMagicDutyCycle" << std::endl;
        ss << "    TargetPosition: " << TargetPosition.to<double>() << " rotations" << 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 << TargetPosition.to<double>(); controlInfo["TargetPosition"] = 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;
    }
};
 
}
}
}