DynamicMotionMagicDutyCycle.hpp

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/*
 * Copyright (C) Cross The Road Electronics.  All rights reserved.
 * License information can be found in CTRE_LICENSE.txt
 * For support and suggestions contact support@ctr-electronics.com or file
 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases
 */
#pragma once
 
#include "ctre/phoenix6/controls/ControlRequest.hpp"
#include "ctre/phoenix6/networking/interfaces/Control_Interface.h"
#include <sstream>
#include <units/angle.h>
#include <units/angular_velocity.h>
#include <units/angular_acceleration.h>
#include <units/angular_jerk.h>
#include <units/dimensionless.h>
#include <units/frequency.h>
#include <units/time.h>
 
 
namespace ctre {
namespace phoenix6 {
namespace controls {
 
/**
 * Requires Phoenix Pro and CANivore;
 * Requests Motion Magic® to target a final position using a motion profile. 
 * This dynamic request allows runtime changes to Cruise Velocity, Acceleration,
 * and Jerk.  Users can optionally provide a duty cycle feedforward.  This
 * control requires use of a CANivore.
 * 
 * Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise
 * Velocity, Acceleration, and (optional) Jerk.  This control mode does not use the Expo_kV or Expo_kA
 * configs.
 * 
 * Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This
 * control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the
 * numerator:  +1.0 represents full forward output.
 */
class DynamicMotionMagicDutyCycle : public ControlRequest
{
    ctre::phoenix::StatusCode SendRequest(const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req) const override
    {
        if (req.get() != this)
        {
            auto const reqCast = dynamic_cast<DynamicMotionMagicDutyCycle *>(req.get());
            if (reqCast != nullptr)
            {
                *reqCast = *this;
            }
            else
            {
                req = std::make_shared<DynamicMotionMagicDutyCycle>(*this);
            }
        }
 
        return c_ctre_phoenix6_RequestControlDynamicMotionMagicDutyCycle(network, deviceHash, UpdateFreqHz.to<double>(), Position.to<double>(), Velocity.to<double>(), Acceleration.to<double>(), Jerk.to<double>(), EnableFOC, FeedForward.to<double>(), Slot, OverrideBrakeDurNeutral, LimitForwardMotion, LimitReverseMotion, IgnoreHardwareLimits, UseTimesync);
    }
 
public:
    /**
     * \brief Position to drive toward in rotations.
     */
    units::angle::turn_t Position;
    /**
     * \brief Cruise velocity for profiling.  The signage does not matter as the
     * device will use the absolute value for profile generation.
     */
    units::angular_velocity::turns_per_second_t Velocity;
    /**
     * \brief Acceleration for profiling.  The signage does not matter as the device
     * will use the absolute value for profile generation
     */
    units::angular_acceleration::turns_per_second_squared_t Acceleration;
    /**
     * \brief Jerk for profiling.  The signage does not matter as the device will
     * use the absolute value for profile generation.
     * 
     * Jerk is optional; if this is set to zero, then Motion Magic® will not apply a
     * Jerk limit.
     */
    units::angular_jerk::turns_per_second_cubed_t Jerk;
    /**
     * \brief Set to true to use FOC commutation (requires Phoenix Pro), which
     * increases peak power by ~15%. Set to false to use trapezoidal commutation.
     * 
     * FOC improves motor performance by leveraging torque (current) control. 
     * However, this may be inconvenient for applications that require specifying
     * duty cycle or voltage.  CTR-Electronics has developed a hybrid method that
     * combines the performances gains of FOC while still allowing applications to
     * provide duty cycle or voltage demand.  This not to be confused with simple
     * sinusoidal control or phase voltage control which lacks the performance
     * gains.
     */
    bool EnableFOC = true;
    /**
     * \brief Feedforward to apply in fractional units between -1 and +1.
     */
    units::dimensionless::scalar_t FeedForward = 0.0;
    /**
     * \brief Select which gains are applied by selecting the slot.  Use the
     * configuration api to set the gain values for the selected slot before
     * enabling this feature. Slot must be within [0,2].
     */
    int Slot = 0;
    /**
     * \brief Set to true to static-brake the rotor when output is zero (or within
     * deadband).  Set to false to use the NeutralMode configuration setting
     * (default). This flag exists to provide the fundamental behavior of this
     * control when output is zero, which is to provide 0V to the motor.
     */
    bool OverrideBrakeDurNeutral = false;
    /**
     * \brief Set to true to force forward limiting.  This allows users to use other
     * limit switch sensors connected to robot controller.  This also allows use of
     * active sensors that require external power.
     */
    bool LimitForwardMotion = false;
    /**
     * \brief Set to true to force reverse limiting.  This allows users to use other
     * limit switch sensors connected to robot controller.  This also allows use of
     * active sensors that require external power.
     */
    bool LimitReverseMotion = false;
    /**
     * \brief Set to true to ignore hardware limit switches and the
     * LimitForwardMotion and LimitReverseMotion parameters, instead allowing
     * motion.
     * 
     * This can be useful on mechanisms such as an intake/feeder, where a limit
     * switch stops motion while intaking but should be ignored when feeding to a
     * shooter.
     * 
     * The hardware limit faults and Forward/ReverseLimit signals will still report
     * the values of the limit switches regardless of this parameter.
     */
    bool IgnoreHardwareLimits = false;
    /**
     * \brief Set to true to delay applying this control request until a timesync
     * boundary (requires Phoenix Pro and CANivore). This eliminates the impact of
     * nondeterministic network delays in exchange for a larger but deterministic
     * control latency.
     * 
     * This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs.
     * Additionally, when this is enabled, the UpdateFreqHz of this request should
     * be set to 0 Hz.
     */
    bool UseTimesync = false;
 
    /**
     * \brief The period at which this control will update at.
     * This is designated in Hertz, with a minimum of 20 Hz
     * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
     *
     * If this field is set to 0 Hz, the control request will
     * be sent immediately as a one-shot frame. This may be useful
     * for advanced applications that require outputs to be
     * synchronized with data acquisition. In this case, we
     * recommend not exceeding 50 ms between control calls.
     */
    units::frequency::hertz_t UpdateFreqHz{100_Hz};
 
    /**
     * \brief Requires Phoenix Pro and CANivore;
     *        Requests Motion Magic® to target a final position using a motion
     *        profile.  This dynamic request allows runtime changes to Cruise
     *        Velocity, Acceleration, and Jerk.  Users can optionally provide a duty
     *        cycle feedforward.  This control requires use of a CANivore.
     * 
     * \details Motion Magic® produces a motion profile in real-time while
     *          attempting to honor the specified Cruise Velocity, Acceleration, and
     *          (optional) Jerk.  This control mode does not use the Expo_kV or
     *          Expo_kA configs.
     *          
     *          Target position can be changed on-the-fly and Motion Magic® will do
     *          its best to adjust the profile. This control mode is duty cycle
     *          based, so relevant closed-loop gains will use fractional duty cycle
     *          for the numerator:  +1.0 represents full forward output.
     * 
     * \param Position    Position to drive toward in rotations.
     * \param Velocity    Cruise velocity for profiling.  The signage does not
     *                    matter as the device will use the absolute value for
     *                    profile generation.
     * \param Acceleration    Acceleration for profiling.  The signage does not
     *                        matter as the device will use the absolute value for
     *                        profile generation
     * \param Jerk    Jerk for profiling.  The signage does not matter as the device
     *                will use the absolute value for profile generation.
     *                
     *                Jerk is optional; if this is set to zero, then Motion Magic®
     *                will not apply a Jerk limit.
     */
    DynamicMotionMagicDutyCycle(units::angle::turn_t Position, units::angular_velocity::turns_per_second_t Velocity, units::angular_acceleration::turns_per_second_squared_t Acceleration, units::angular_jerk::turns_per_second_cubed_t Jerk) : ControlRequest{"DynamicMotionMagicDutyCycle"},
        Position{std::move(Position)},
        Velocity{std::move(Velocity)},
        Acceleration{std::move(Acceleration)},
        Jerk{std::move(Jerk)}
    {}
    
    /**
     * \brief Modifies this Control Request's Position parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Position to drive toward in rotations.
     *
     * \param newPosition Parameter to modify
     * \returns Itself
     */
    DynamicMotionMagicDutyCycle &WithPosition(units::angle::turn_t newPosition)
    {
        Position = std::move(newPosition);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's Velocity parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Cruise velocity for profiling.  The signage does not matter as the device
     * will use the absolute value for profile generation.
     *
     * \param newVelocity Parameter to modify
     * \returns Itself
     */
    DynamicMotionMagicDutyCycle &WithVelocity(units::angular_velocity::turns_per_second_t newVelocity)
    {
        Velocity = std::move(newVelocity);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's Acceleration parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Acceleration for profiling.  The signage does not matter as the device will
     * use the absolute value for profile generation
     *
     * \param newAcceleration Parameter to modify
     * \returns Itself
     */
    DynamicMotionMagicDutyCycle &WithAcceleration(units::angular_acceleration::turns_per_second_squared_t newAcceleration)
    {
        Acceleration = std::move(newAcceleration);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's Jerk parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Jerk for profiling.  The signage does not matter as the device will use the
     * absolute value for profile generation.
     * 
     * Jerk is optional; if this is set to zero, then Motion Magic® will not apply a
     * Jerk limit.
     *
     * \param newJerk Parameter to modify
     * \returns Itself
     */
    DynamicMotionMagicDutyCycle &WithJerk(units::angular_jerk::turns_per_second_cubed_t newJerk)
    {
        Jerk = std::move(newJerk);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's EnableFOC parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Set to true to use FOC commutation (requires Phoenix Pro), which increases
     * peak power by ~15%. Set to false to use trapezoidal commutation.
     * 
     * FOC improves motor performance by leveraging torque (current) control. 
     * However, this may be inconvenient for applications that require specifying
     * duty cycle or voltage.  CTR-Electronics has developed a hybrid method that
     * combines the performances gains of FOC while still allowing applications to
     * provide duty cycle or voltage demand.  This not to be confused with simple
     * sinusoidal control or phase voltage control which lacks the performance
     * gains.
     *
     * \param newEnableFOC Parameter to modify
     * \returns Itself
     */
    DynamicMotionMagicDutyCycle &WithEnableFOC(bool newEnableFOC)
    {
        EnableFOC = std::move(newEnableFOC);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's FeedForward parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Feedforward to apply in fractional units between -1 and +1.
     *
     * \param newFeedForward Parameter to modify
     * \returns Itself
     */
    DynamicMotionMagicDutyCycle &WithFeedForward(units::dimensionless::scalar_t newFeedForward)
    {
        FeedForward = std::move(newFeedForward);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's Slot parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Select which gains are applied by selecting the slot.  Use the configuration
     * api to set the gain values for the selected slot before enabling this
     * feature. Slot must be within [0,2].
     *
     * \param newSlot Parameter to modify
     * \returns Itself
     */
    DynamicMotionMagicDutyCycle &WithSlot(int newSlot)
    {
        Slot = std::move(newSlot);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Set to true to static-brake the rotor when output is zero (or within
     * deadband).  Set to false to use the NeutralMode configuration setting
     * (default). This flag exists to provide the fundamental behavior of this
     * control when output is zero, which is to provide 0V to the motor.
     *
     * \param newOverrideBrakeDurNeutral Parameter to modify
     * \returns Itself
     */
    DynamicMotionMagicDutyCycle &WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
    {
        OverrideBrakeDurNeutral = std::move(newOverrideBrakeDurNeutral);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's LimitForwardMotion parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Set to true to force forward limiting.  This allows users to use other limit
     * switch sensors connected to robot controller.  This also allows use of active
     * sensors that require external power.
     *
     * \param newLimitForwardMotion Parameter to modify
     * \returns Itself
     */
    DynamicMotionMagicDutyCycle &WithLimitForwardMotion(bool newLimitForwardMotion)
    {
        LimitForwardMotion = std::move(newLimitForwardMotion);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's LimitReverseMotion parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Set to true to force reverse limiting.  This allows users to use other limit
     * switch sensors connected to robot controller.  This also allows use of active
     * sensors that require external power.
     *
     * \param newLimitReverseMotion Parameter to modify
     * \returns Itself
     */
    DynamicMotionMagicDutyCycle &WithLimitReverseMotion(bool newLimitReverseMotion)
    {
        LimitReverseMotion = std::move(newLimitReverseMotion);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Set to true to ignore hardware limit switches and the LimitForwardMotion and
     * LimitReverseMotion parameters, instead allowing motion.
     * 
     * This can be useful on mechanisms such as an intake/feeder, where a limit
     * switch stops motion while intaking but should be ignored when feeding to a
     * shooter.
     * 
     * The hardware limit faults and Forward/ReverseLimit signals will still report
     * the values of the limit switches regardless of this parameter.
     *
     * \param newIgnoreHardwareLimits Parameter to modify
     * \returns Itself
     */
    DynamicMotionMagicDutyCycle &WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
    {
        IgnoreHardwareLimits = std::move(newIgnoreHardwareLimits);
        return *this;
    }
    
    /**
     * \brief Modifies this Control Request's UseTimesync parameter and returns itself for
     *        method-chaining and easier to use request API.
     *
     * Set to true to delay applying this control request until a timesync boundary
     * (requires Phoenix Pro and CANivore). This eliminates the impact of
     * nondeterministic network delays in exchange for a larger but deterministic
     * control latency.
     * 
     * This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs.
     * Additionally, when this is enabled, the UpdateFreqHz of this request should
     * be set to 0 Hz.
     *
     * \param newUseTimesync Parameter to modify
     * \returns Itself
     */
    DynamicMotionMagicDutyCycle &WithUseTimesync(bool newUseTimesync)
    {
        UseTimesync = std::move(newUseTimesync);
        return *this;
    }
    /**
     * \brief Sets the period at which this control will update at.
     * This is designated in Hertz, with a minimum of 20 Hz
     * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
     *
     * If this field is set to 0 Hz, the control request will
     * be sent immediately as a one-shot frame. This may be useful
     * for advanced applications that require outputs to be
     * synchronized with data acquisition. In this case, we
     * recommend not exceeding 50 ms between control calls.
     *
     * \param newUpdateFreqHz Parameter to modify
     * \returns Itself
     */
    DynamicMotionMagicDutyCycle &WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
    {
        UpdateFreqHz = newUpdateFreqHz;
        return *this;
    }
    /**
     * \brief Returns a string representation of the object.
     *
     * \returns a string representation of the object.
     */
    std::string ToString() const override
    {
        std::stringstream ss;
        ss << "Control: DynamicMotionMagicDutyCycle" << std::endl;
        ss << "    Position: " << Position.to<double>() << " rotations" << std::endl;
        ss << "    Velocity: " << Velocity.to<double>() << " rotations per second" << std::endl;
        ss << "    Acceleration: " << Acceleration.to<double>() << " rotations per second²" << std::endl;
        ss << "    Jerk: " << Jerk.to<double>() << " rotations per second³" << std::endl;
        ss << "    EnableFOC: " << EnableFOC << std::endl;
        ss << "    FeedForward: " << FeedForward.to<double>() << " fractional" << std::endl;
        ss << "    Slot: " << Slot << std::endl;
        ss << "    OverrideBrakeDurNeutral: " << OverrideBrakeDurNeutral << std::endl;
        ss << "    LimitForwardMotion: " << LimitForwardMotion << std::endl;
        ss << "    LimitReverseMotion: " << LimitReverseMotion << std::endl;
        ss << "    IgnoreHardwareLimits: " << IgnoreHardwareLimits << std::endl;
        ss << "    UseTimesync: " << UseTimesync << std::endl;
        return ss.str();
    }
 
    /**
     * \brief Gets information about this control request.
     *
     * \returns Map of control parameter names and corresponding applied values
     */
    std::map<std::string, std::string> GetControlInfo() const override
    {
        std::map<std::string, std::string> controlInfo;
        std::stringstream ss;
        controlInfo["Name"] = GetName();
        ss << Position.to<double>(); controlInfo["Position"] = ss.str(); ss.str(std::string{});
        ss << Velocity.to<double>(); controlInfo["Velocity"] = ss.str(); ss.str(std::string{});
        ss << Acceleration.to<double>(); controlInfo["Acceleration"] = ss.str(); ss.str(std::string{});
        ss << Jerk.to<double>(); controlInfo["Jerk"] = ss.str(); ss.str(std::string{});
        ss << EnableFOC; controlInfo["EnableFOC"] = ss.str(); ss.str(std::string{});
        ss << FeedForward.to<double>(); controlInfo["FeedForward"] = ss.str(); ss.str(std::string{});
        ss << Slot; controlInfo["Slot"] = ss.str(); ss.str(std::string{});
        ss << OverrideBrakeDurNeutral; controlInfo["OverrideBrakeDurNeutral"] = ss.str(); ss.str(std::string{});
        ss << LimitForwardMotion; controlInfo["LimitForwardMotion"] = ss.str(); ss.str(std::string{});
        ss << LimitReverseMotion; controlInfo["LimitReverseMotion"] = ss.str(); ss.str(std::string{});
        ss << IgnoreHardwareLimits; controlInfo["IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
        ss << UseTimesync; controlInfo["UseTimesync"] = ss.str(); ss.str(std::string{});
        return controlInfo;
    }
};
 
}
}
}