13#include <units/frequency.h>
14#include <units/time.h>
15#include <units/angle.h>
16#include <units/voltage.h>
38 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const override
40 if (req.get() !=
this)
43 if (reqCast !=
nullptr)
49 req = std::make_shared<MotionMagicExpoVoltage>(*
this);
53 return c_ctre_phoenix6_RequestControlMotionMagicExpoVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(),
Position.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
IgnoreHardwareLimits,
UseTimesync);
246 Slot = std::move(newSlot);
372 std::stringstream ss;
373 ss <<
"Control: MotionMagicExpoVoltage" << std::endl;
374 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
375 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
376 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" Volts" << std::endl;
377 ss <<
" Slot: " <<
Slot << std::endl;
382 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
393 std::map<std::string, std::string> controlInfo;
394 std::stringstream ss;
395 controlInfo[
"Name"] =
GetName();
396 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
397 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
398 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
399 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
401 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
402 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
403 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
404 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicExpoVoltage(const char *canbus, uint32_t ecuEncoding, double updateFrequency, double Position, bool EnableFOC, double FeedForward, int Slot, 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
Requests Motion Magic® to target a final position using an exponential motion profile.
Definition MotionMagicExpoVoltage.hpp:37
std::string ToString() const override
Returns a string representation of the object.
Definition MotionMagicExpoVoltage.hpp:370
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition MotionMagicExpoVoltage.hpp:146
MotionMagicExpoVoltage & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition MotionMagicExpoVoltage.hpp:184
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supp...
Definition MotionMagicExpoVoltage.hpp:77
MotionMagicExpoVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition MotionMagicExpoVoltage.hpp:279
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition MotionMagicExpoVoltage.hpp:122
MotionMagicExpoVoltage(units::angle::turn_t Position)
Requests Motion Magic® to target a final position using an exponential motion profile.
Definition MotionMagicExpoVoltage.hpp:168
int Slot
Select which gains are applied by selecting the slot.
Definition MotionMagicExpoVoltage.hpp:90
MotionMagicExpoVoltage & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition MotionMagicExpoVoltage.hpp:319
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition MotionMagicExpoVoltage.hpp:109
MotionMagicExpoVoltage & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition MotionMagicExpoVoltage.hpp:341
MotionMagicExpoVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition MotionMagicExpoVoltage.hpp:244
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition MotionMagicExpoVoltage.hpp:97
MotionMagicExpoVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition MotionMagicExpoVoltage.hpp:296
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition MotionMagicExpoVoltage.hpp:391
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition MotionMagicExpoVoltage.hpp:133
MotionMagicExpoVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition MotionMagicExpoVoltage.hpp:227
units::angle::turn_t Position
Position to drive toward in rotations.
Definition MotionMagicExpoVoltage.hpp:63
MotionMagicExpoVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition MotionMagicExpoVoltage.hpp:262
MotionMagicExpoVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition MotionMagicExpoVoltage.hpp:360
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition MotionMagicExpoVoltage.hpp:84
bool LimitForwardMotion
Set to true to force forward limiting.
Definition MotionMagicExpoVoltage.hpp:103
MotionMagicExpoVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition MotionMagicExpoVoltage.hpp:209
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition Diff_PositionDutyCycle_Position.hpp:15