13#include <units/angle.h>
14#include <units/current.h>
15#include <units/frequency.h>
16#include <units/time.h>
36 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
38 if (req.get() !=
this)
41 if (reqCast !=
nullptr)
47 req = std::make_shared<MotionMagicTorqueCurrentFOC>(*
this);
195 Slot = std::move(newSlot);
276 std::stringstream ss;
277 ss <<
"class: MotionMagicTorqueCurrentFOC" << std::endl;
278 ss <<
"Position: " <<
Position.to<
double>() << std::endl;
279 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
280 ss <<
"Slot: " <<
Slot << std::endl;
294 std::map<std::string, std::string> controlInfo;
295 std::stringstream ss;
296 controlInfo[
"Name"] =
GetName();
297 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
298 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
299 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
301 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
302 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicTorqueCurrentFOC(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double Position, double FeedForward, int Slot, bool OverrideCoastDurNeutral, 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
Requires Phoenix Pro; Requests Motion Magic® to target a final position using a motion profile.
Definition: MotionMagicTorqueCurrentFOC.hpp:35
MotionMagicTorqueCurrentFOC & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicTorqueCurrentFOC.hpp:245
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicTorqueCurrentFOC.hpp:101
MotionMagicTorqueCurrentFOC(units::angle::turn_t Position, units::current::ampere_t FeedForward=0.0_A, int Slot=0, bool OverrideCoastDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Requires Phoenix Pro; Requests Motion Magic® to target a final position using a motion profile.
Definition: MotionMagicTorqueCurrentFOC.hpp:142
MotionMagicTorqueCurrentFOC & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicTorqueCurrentFOC.hpp:264
units::current::ampere_t FeedForward
Feedforward to apply in torque current in Amperes.
Definition: MotionMagicTorqueCurrentFOC.hpp:63
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: MotionMagicTorqueCurrentFOC.hpp:58
MotionMagicTorqueCurrentFOC & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicTorqueCurrentFOC.hpp:193
MotionMagicTorqueCurrentFOC & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicTorqueCurrentFOC.hpp:228
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicTorqueCurrentFOC.hpp:69
MotionMagicTorqueCurrentFOC & WithFeedForward(units::current::ampere_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicTorqueCurrentFOC.hpp:176
bool OverrideCoastDurNeutral
Set to true to coast the rotor when output is zero (or within deadband).
Definition: MotionMagicTorqueCurrentFOC.hpp:76
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicTorqueCurrentFOC.hpp:88
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicTorqueCurrentFOC.hpp:274
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicTorqueCurrentFOC.hpp:82
MotionMagicTorqueCurrentFOC & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: MotionMagicTorqueCurrentFOC.hpp:160
MotionMagicTorqueCurrentFOC & WithOverrideCoastDurNeutral(bool newOverrideCoastDurNeutral)
Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicTorqueCurrentFOC.hpp:211
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: MotionMagicTorqueCurrentFOC.hpp:292
Definition: string_util.hpp:15