13#include <units/frequency.h>
14#include <units/time.h>
15#include <units/angle.h>
29 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const override
31 if (req.get() !=
this)
34 if (reqCast !=
nullptr)
40 req = std::make_shared<DifferentialPositionDutyCycle>(*
this);
44 return c_ctre_phoenix6_RequestControlDifferentialPositionDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(),
TargetPosition.to<
double>(),
DifferentialPosition.to<
double>(),
EnableFOC,
TargetSlot,
DifferentialSlot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
IgnoreHardwareLimits,
UseTimesync);
378 std::stringstream ss;
379 ss <<
"Control: DifferentialPositionDutyCycle" << std::endl;
380 ss <<
" TargetPosition: " <<
TargetPosition.to<
double>() <<
" rotations" << std::endl;
381 ss <<
" DifferentialPosition: " <<
DifferentialPosition.to<
double>() <<
" rotations" << std::endl;
382 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
383 ss <<
" TargetSlot: " <<
TargetSlot << std::endl;
389 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
400 std::map<std::string, std::string> controlInfo;
401 std::stringstream ss;
402 controlInfo[
"Name"] =
GetName();
403 ss <<
TargetPosition.to<
double>(); controlInfo[
"TargetPosition"] = ss.str(); ss.str(std::string{});
404 ss <<
DifferentialPosition.to<
double>(); controlInfo[
"DifferentialPosition"] = ss.str(); ss.str(std::string{});
405 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
406 ss <<
TargetSlot; controlInfo[
"TargetSlot"] = ss.str(); ss.str(std::string{});
407 ss <<
DifferentialSlot; controlInfo[
"DifferentialSlot"] = ss.str(); ss.str(std::string{});
409 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
410 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
411 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
412 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDifferentialPositionDutyCycle(const char *canbus, uint32_t ecuEncoding, double updateFrequency, double TargetPosition, double DifferentialPosition, bool EnableFOC, int TargetSlot, int DifferentialSlot, bool OverrideBrakeDurNeutral, bool LimitForwardMotion, bool LimitReverseMotion, bool IgnoreHardwareLimits, bool UseTimesync)
Abstract Control Request class that other control requests extend for use.
Definition ControlRequest.hpp:30
std::string const & GetName() const
Definition ControlRequest.hpp:53
Request PID to target position with a differential position setpoint.
Definition DifferentialPositionDutyCycle.hpp:28
int TargetSlot
Select which gains are applied to the primary controller by selecting the slot.
Definition DifferentialPositionDutyCycle.hpp:81
int DifferentialSlot
Select which gains are applied to the differential controller by selecting the slot.
Definition DifferentialPositionDutyCycle.hpp:87
units::angle::turn_t DifferentialPosition
Differential position to drive toward in rotations.
Definition DifferentialPositionDutyCycle.hpp:61
DifferentialPositionDutyCycle & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition DifferentialPositionDutyCycle.hpp:347
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition DifferentialPositionDutyCycle.hpp:106
DifferentialPositionDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition DifferentialPositionDutyCycle.hpp:366
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition DifferentialPositionDutyCycle.hpp:398
DifferentialPositionDutyCycle(units::angle::turn_t TargetPosition, units::angle::turn_t DifferentialPosition)
Request PID to target position with a differential position setpoint.
Definition DifferentialPositionDutyCycle.hpp:156
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition DifferentialPositionDutyCycle.hpp:119
DifferentialPositionDutyCycle & WithDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and...
Definition DifferentialPositionDutyCycle.hpp:250
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition DifferentialPositionDutyCycle.hpp:143
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition DifferentialPositionDutyCycle.hpp:130
DifferentialPositionDutyCycle & WithDifferentialPosition(units::angle::turn_t newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining...
Definition DifferentialPositionDutyCycle.hpp:191
DifferentialPositionDutyCycle & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition DifferentialPositionDutyCycle.hpp:325
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supp...
Definition DifferentialPositionDutyCycle.hpp:75
DifferentialPositionDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition DifferentialPositionDutyCycle.hpp:216
DifferentialPositionDutyCycle & WithTargetSlot(int newTargetSlot)
Modifies this Control Request's TargetSlot parameter and returns itself for method-chaining and easie...
Definition DifferentialPositionDutyCycle.hpp:233
bool LimitForwardMotion
Set to true to force forward limiting.
Definition DifferentialPositionDutyCycle.hpp:100
DifferentialPositionDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition DifferentialPositionDutyCycle.hpp:268
DifferentialPositionDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition DifferentialPositionDutyCycle.hpp:302
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:173
units::angle::turn_t TargetPosition
Average position to drive toward in rotations.
Definition DifferentialPositionDutyCycle.hpp:54
std::string ToString() const override
Returns a string representation of the object.
Definition DifferentialPositionDutyCycle.hpp:376
DifferentialPositionDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition DifferentialPositionDutyCycle.hpp:285
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition DifferentialPositionDutyCycle.hpp:94
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition Diff_PositionDutyCycle_Position.hpp:15