13#include <units/frequency.h>
14#include <units/time.h>
15#include <units/voltage.h>
16#include <units/angle.h>
31 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const override
33 if (req.get() !=
this)
36 if (reqCast !=
nullptr)
42 req = std::make_shared<DifferentialVoltage>(*
this);
46 return c_ctre_phoenix6_RequestControlDifferentialVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
TargetOutput.to<
double>(),
DifferentialPosition.to<
double>(),
EnableFOC,
DifferentialSlot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
IgnoreHardwareLimits,
UseTimesync);
359 std::stringstream ss;
360 ss <<
"Control: DifferentialVoltage" << std::endl;
361 ss <<
" TargetOutput: " <<
TargetOutput.to<
double>() <<
" Volts" << std::endl;
362 ss <<
" DifferentialPosition: " <<
DifferentialPosition.to<
double>() <<
" rotations" << std::endl;
363 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
369 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
380 std::map<std::string, std::string> controlInfo;
381 std::stringstream ss;
382 controlInfo[
"Name"] =
GetName();
383 ss <<
TargetOutput.to<
double>(); controlInfo[
"TargetOutput"] = ss.str(); ss.str(std::string{});
384 ss <<
DifferentialPosition.to<
double>(); controlInfo[
"DifferentialPosition"] = ss.str(); ss.str(std::string{});
385 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
386 ss <<
DifferentialSlot; controlInfo[
"DifferentialSlot"] = ss.str(); ss.str(std::string{});
388 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
389 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
390 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
391 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDifferentialVoltage(const char *canbus, uint32_t ecuEncoding, double updateFrequency, double TargetOutput, double DifferentialPosition, bool EnableFOC, 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 a specified voltage with a differential position closed-loop.
Definition DifferentialVoltage.hpp:30
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition DifferentialVoltage.hpp:115
DifferentialVoltage & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition DifferentialVoltage.hpp:306
DifferentialVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition DifferentialVoltage.hpp:214
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition DifferentialVoltage.hpp:126
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supp...
Definition DifferentialVoltage.hpp:77
bool LimitForwardMotion
Set to true to force forward limiting.
Definition DifferentialVoltage.hpp:96
DifferentialVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition DifferentialVoltage.hpp:266
units::angle::turn_t DifferentialPosition
Differential position to drive towards in rotations.
Definition DifferentialVoltage.hpp:63
DifferentialVoltage(units::voltage::volt_t TargetOutput, units::angle::turn_t DifferentialPosition)
Request a specified voltage with a differential position closed-loop.
Definition DifferentialVoltage.hpp:154
DifferentialVoltage & WithDifferentialPosition(units::angle::turn_t newDifferentialPosition)
Modifies this Control Request's DifferentialPosition parameter and returns itself for method-chaining...
Definition DifferentialVoltage.hpp:189
int DifferentialSlot
Select which gains are applied to the differential controller by selecting the slot.
Definition DifferentialVoltage.hpp:83
DifferentialVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition DifferentialVoltage.hpp:328
DifferentialVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition DifferentialVoltage.hpp:283
DifferentialVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition DifferentialVoltage.hpp:347
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition DifferentialVoltage.hpp:139
DifferentialVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition DifferentialVoltage.hpp:249
DifferentialVoltage & WithDifferentialSlot(int newDifferentialSlot)
Modifies this Control Request's DifferentialSlot parameter and returns itself for method-chaining and...
Definition DifferentialVoltage.hpp:231
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition DifferentialVoltage.hpp:102
std::string ToString() const override
Returns a string representation of the object.
Definition DifferentialVoltage.hpp:357
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition DifferentialVoltage.hpp:378
units::voltage::volt_t TargetOutput
Voltage to attempt to drive at.
Definition DifferentialVoltage.hpp:56
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:171
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition DifferentialVoltage.hpp:90
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition Diff_PositionDutyCycle_Position.hpp:15