13#include <units/dimensionless.h>
14#include <units/frequency.h>
15#include <units/time.h>
29 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
31 if (req.get() !=
this)
33 auto const reqCast =
dynamic_cast<DutyCycleOut *
>(req.get());
34 if (reqCast !=
nullptr)
40 req = std::make_shared<DutyCycleOut>(*
this);
51 units::dimensionless::scalar_t
Output;
156 Output = std::move(newOutput);
261 std::stringstream ss;
262 ss <<
"class: DutyCycleOut" << std::endl;
263 ss <<
"Output: " <<
Output.to<
double>() << std::endl;
264 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
278 std::map<std::string, std::string> controlInfo;
279 std::stringstream ss;
280 controlInfo[
"Name"] =
GetName();
281 ss <<
Output.to<
double>(); controlInfo[
"Output"] = ss.str(); ss.str(std::string{});
282 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
284 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
285 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlDutyCycleOut(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double Output, bool EnableFOC, 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 motor duty cycle.
Definition: DutyCycleOut.hpp:28
DutyCycleOut & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: DutyCycleOut.hpp:230
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: DutyCycleOut.hpp:77
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: DutyCycleOut.hpp:71
DutyCycleOut & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: DutyCycleOut.hpp:249
units::dimensionless::scalar_t Output
Proportion of supply voltage to apply in fractional units between -1 and +1.
Definition: DutyCycleOut.hpp:51
DutyCycleOut(units::dimensionless::scalar_t Output, bool EnableFOC=true, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Request a specified motor duty cycle.
Definition: DutyCycleOut.hpp:137
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: DutyCycleOut.hpp:96
DutyCycleOut & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: DutyCycleOut.hpp:196
DutyCycleOut & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: DutyCycleOut.hpp:178
DutyCycleOut & WithOutput(units::dimensionless::scalar_t newOutput)
Modifies this Control Request's Output parameter and returns itself for method-chaining and easier to...
Definition: DutyCycleOut.hpp:154
std::string ToString() const override
Returns a string representation of the object.
Definition: DutyCycleOut.hpp:259
DutyCycleOut & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: DutyCycleOut.hpp:213
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: DutyCycleOut.hpp:64
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: DutyCycleOut.hpp:83
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: DutyCycleOut.hpp:276
Definition: string_util.hpp:15