13#include <units/voltage.h>
14#include <units/angle.h>
15#include <units/frequency.h>
16#include <units/time.h>
32 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
34 if (req.get() !=
this)
37 if (reqCast !=
nullptr)
43 req = std::make_shared<DifferentialVoltage>(*
this);
47 return c_ctre_phoenix6_RequestControlDifferentialVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
TargetOutput.to<
double>(),
DifferentialPosition.to<
double>(),
EnableFOC,
DifferentialSlot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
317 std::stringstream ss;
318 ss <<
"class: DifferentialVoltage" << std::endl;
319 ss <<
"TargetOutput: " <<
TargetOutput.to<
double>() << std::endl;
321 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
336 std::map<std::string, std::string> controlInfo;
337 std::stringstream ss;
338 controlInfo[
"Name"] =
GetName();
339 ss <<
TargetOutput.to<
double>(); controlInfo[
"TargetOutput"] = ss.str(); ss.str(std::string{});
340 ss <<
DifferentialPosition.to<
double>(); controlInfo[
"DifferentialPosition"] = ss.str(); ss.str(std::string{});
341 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
342 ss <<
DifferentialSlot; controlInfo[
"DifferentialSlot"] = ss.str(); ss.str(std::string{});
344 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
345 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDifferentialVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double TargetOutput, double DifferentialPosition, bool EnableFOC, 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 a specified voltage with a differential position closed-loop.
Definition: DifferentialVoltage.hpp:31
DifferentialVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: DifferentialVoltage.hpp:217
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: DifferentialVoltage.hpp:71
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: DifferentialVoltage.hpp:90
DifferentialVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: DifferentialVoltage.hpp:269
units::angle::turn_t DifferentialPosition
Differential position to drive towards in rotations.
Definition: DifferentialVoltage.hpp:58
DifferentialVoltage & WithDifferentialPosition(units::angle::turn_t newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining...
Definition: DifferentialVoltage.hpp:193
int DifferentialSlot
Select which gains are applied to the differential controller by selecting the slot.
Definition: DifferentialVoltage.hpp:77
DifferentialVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: DifferentialVoltage.hpp:286
DifferentialVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: DifferentialVoltage.hpp:305
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: DifferentialVoltage.hpp:109
DifferentialVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: DifferentialVoltage.hpp:252
DifferentialVoltage & WithDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and...
Definition: DifferentialVoltage.hpp:234
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: DifferentialVoltage.hpp:96
std::string ToString() const override
Returns a string representation of the object.
Definition: DifferentialVoltage.hpp:315
DifferentialVoltage(units::voltage::volt_t TargetOutput, units::angle::turn_t DifferentialPosition, bool EnableFOC=true, int DifferentialSlot=1, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Request a specified voltage with a differential position closed-loop.
Definition: DifferentialVoltage.hpp:159
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: DifferentialVoltage.hpp:334
units::voltage::volt_t TargetOutput
Voltage to attempt to drive at.
Definition: DifferentialVoltage.hpp:54
DifferentialVoltage & WithTargetOutput(units::voltage::volt_t newTargetOutput)
Modifies this Control Request's TargetOutput parameter and returns itself for method-chaining and eas...
Definition: DifferentialVoltage.hpp:178
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: DifferentialVoltage.hpp:84
Definition: string_util.hpp:15