13#include <units/angle.h>
14#include <units/dimensionless.h>
15#include <units/frequency.h>
16#include <units/time.h>
35 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
37 if (req.get() !=
this)
40 if (reqCast !=
nullptr)
46 req = std::make_shared<MotionMagicDutyCycle>(*
this);
50 return c_ctre_phoenix6_RequestControlMotionMagicDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
Position.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
241 Slot = std::move(newSlot);
322 std::stringstream ss;
323 ss <<
"class: MotionMagicDutyCycle" << std::endl;
324 ss <<
"Position: " <<
Position.to<
double>() << std::endl;
325 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
326 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
327 ss <<
"Slot: " <<
Slot << std::endl;
341 std::map<std::string, std::string> controlInfo;
342 std::stringstream ss;
343 controlInfo[
"Name"] =
GetName();
344 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
345 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
346 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
347 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
349 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
350 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicDutyCycle(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double Position, bool EnableFOC, double FeedForward, int Slot, 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
Requests Motion Magic® to target a final position using a motion profile.
Definition: MotionMagicDutyCycle.hpp:34
MotionMagicDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicDutyCycle.hpp:257
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicDutyCycle.hpp:80
MotionMagicDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicDutyCycle.hpp:291
MotionMagicDutyCycle & WithFeedForward(units::dimensionless::scalar_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicDutyCycle.hpp:222
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicDutyCycle.hpp:320
MotionMagicDutyCycle & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicDutyCycle.hpp:239
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: MotionMagicDutyCycle.hpp:87
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: MotionMagicDutyCycle.hpp:339
units::dimensionless::scalar_t FeedForward
Feedforward to apply in fractional units between -1 and +1.
Definition: MotionMagicDutyCycle.hpp:74
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: MotionMagicDutyCycle.hpp:57
MotionMagicDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicDutyCycle.hpp:274
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicDutyCycle.hpp:93
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: MotionMagicDutyCycle.hpp:70
MotionMagicDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: MotionMagicDutyCycle.hpp:207
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicDutyCycle.hpp:99
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicDutyCycle.hpp:112
MotionMagicDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicDutyCycle.hpp:310
MotionMagicDutyCycle & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: MotionMagicDutyCycle.hpp:183
MotionMagicDutyCycle(units::angle::turn_t Position, bool EnableFOC=true, units::dimensionless::scalar_t FeedForward=0.0, int Slot=0, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Requests Motion Magic® to target a final position using a motion profile.
Definition: MotionMagicDutyCycle.hpp:164
Definition: string_util.hpp:15