13#include <units/angle.h>
14#include <units/voltage.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<MotionMagicVoltage>(*
this);
50 return c_ctre_phoenix6_RequestControlMotionMagicVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
Position.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
239 Slot = std::move(newSlot);
320 std::stringstream ss;
321 ss <<
"class: MotionMagicVoltage" << std::endl;
322 ss <<
"Position: " <<
Position.to<
double>() << std::endl;
323 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
324 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
325 ss <<
"Slot: " <<
Slot << std::endl;
339 std::map<std::string, std::string> controlInfo;
340 std::stringstream ss;
341 controlInfo[
"Name"] =
GetName();
342 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
343 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
344 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
345 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
347 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
348 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlMotionMagicVoltage(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: MotionMagicVoltage.hpp:34
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: MotionMagicVoltage.hpp:70
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: MotionMagicVoltage.hpp:337
std::string ToString() const override
Returns a string representation of the object.
Definition: MotionMagicVoltage.hpp:318
MotionMagicVoltage & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: MotionMagicVoltage.hpp:181
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: MotionMagicVoltage.hpp:99
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition: MotionMagicVoltage.hpp:74
MotionMagicVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: MotionMagicVoltage.hpp:205
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicVoltage.hpp:112
MotionMagicVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVoltage.hpp:272
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: MotionMagicVoltage.hpp:87
MotionMagicVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicVoltage.hpp:255
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: MotionMagicVoltage.hpp:57
MotionMagicVoltage(units::angle::turn_t Position, bool EnableFOC=true, units::voltage::volt_t FeedForward=0.0_V, 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: MotionMagicVoltage.hpp:162
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: MotionMagicVoltage.hpp:93
MotionMagicVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: MotionMagicVoltage.hpp:289
MotionMagicVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicVoltage.hpp:237
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicVoltage.hpp:80
MotionMagicVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicVoltage.hpp:220
MotionMagicVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicVoltage.hpp:308
Definition: string_util.hpp:15