13#include <units/angle.h>
14#include <units/frequency.h>
15#include <units/time.h>
30 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
32 if (req.get() !=
this)
35 if (reqCast !=
nullptr)
41 req = std::make_shared<DifferentialPositionDutyCycle>(*
this);
45 return c_ctre_phoenix6_RequestControlDifferentialPositionDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
TargetPosition.to<
double>(),
DifferentialPosition.to<
double>(),
EnableFOC,
TargetSlot,
DifferentialSlot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
341 std::stringstream ss;
342 ss <<
"class: DifferentialPositionDutyCycle" << std::endl;
343 ss <<
"TargetPosition: " <<
TargetPosition.to<
double>() << std::endl;
345 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
346 ss <<
"TargetSlot: " <<
TargetSlot << std::endl;
361 std::map<std::string, std::string> controlInfo;
362 std::stringstream ss;
363 controlInfo[
"Name"] =
GetName();
364 ss <<
TargetPosition.to<
double>(); controlInfo[
"TargetPosition"] = ss.str(); ss.str(std::string{});
365 ss <<
DifferentialPosition.to<
double>(); controlInfo[
"DifferentialPosition"] = ss.str(); ss.str(std::string{});
366 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
367 ss <<
TargetSlot; controlInfo[
"TargetSlot"] = ss.str(); ss.str(std::string{});
368 ss <<
DifferentialSlot; controlInfo[
"DifferentialSlot"] = ss.str(); ss.str(std::string{});
370 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
371 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDifferentialPositionDutyCycle(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double TargetPosition, double DifferentialPosition, bool EnableFOC, int TargetSlot, int DifferentialSlot, bool OverrideBrakeDurNeutral, bool LimitForwardMotion, bool LimitReverseMotion)
Abstract Control Request class that other control requests extend for use.
Definition: ControlRequest.hpp:28
std::string const & GetName() const
Definition: ControlRequest.hpp:51
Request PID to target position with a differential position setpoint.
Definition: DifferentialPositionDutyCycle.hpp:29
int TargetSlot
Select which gains are applied to the primary controller by selecting the slot.
Definition: DifferentialPositionDutyCycle.hpp:75
int DifferentialSlot
Select which gains are applied to the differential controller by selecting the slot.
Definition: DifferentialPositionDutyCycle.hpp:81
units::angle::turn_t DifferentialPosition
Differential position to drive toward in rotations.
Definition: DifferentialPositionDutyCycle.hpp:56
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: DifferentialPositionDutyCycle.hpp:100
DifferentialPositionDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: DifferentialPositionDutyCycle.hpp:329
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: DifferentialPositionDutyCycle.hpp:359
DifferentialPositionDutyCycle(units::angle::turn_t TargetPosition, units::angle::turn_t DifferentialPosition, bool EnableFOC=true, int TargetSlot=0, int DifferentialSlot=1, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Request PID to target position with a differential position setpoint.
Definition: DifferentialPositionDutyCycle.hpp:165
DifferentialPositionDutyCycle & WithDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and...
Definition: DifferentialPositionDutyCycle.hpp:258
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: DifferentialPositionDutyCycle.hpp:113
DifferentialPositionDutyCycle & WithDifferentialPosition(units::angle::turn_t newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining...
Definition: DifferentialPositionDutyCycle.hpp:200
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: DifferentialPositionDutyCycle.hpp:69
DifferentialPositionDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: DifferentialPositionDutyCycle.hpp:224
DifferentialPositionDutyCycle & WithTargetSlot(int newTargetSlot)
Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easie...
Definition: DifferentialPositionDutyCycle.hpp:241
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: DifferentialPositionDutyCycle.hpp:94
DifferentialPositionDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: DifferentialPositionDutyCycle.hpp:276
DifferentialPositionDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: DifferentialPositionDutyCycle.hpp:310
DifferentialPositionDutyCycle & WithTargetPosition(units::angle::turn_t newTargetPosition)
Modifies this Control Request's TargetPosition parameter and returns itself for method-chaining and e...
Definition: DifferentialPositionDutyCycle.hpp:185
units::angle::turn_t TargetPosition
Average position to drive toward in rotations.
Definition: DifferentialPositionDutyCycle.hpp:52
std::string ToString() const override
Returns a string representation of the object.
Definition: DifferentialPositionDutyCycle.hpp:339
DifferentialPositionDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: DifferentialPositionDutyCycle.hpp:293
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: DifferentialPositionDutyCycle.hpp:88
Definition: string_util.hpp:15