13#include <units/frequency.h>
14#include <units/time.h>
15#include <units/angle.h>
16#include <units/angular_velocity.h>
17#include <units/dimensionless.h>
31 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash, std::shared_ptr<ControlRequest> &req)
const override
33 if (req.get() !=
this)
36 if (reqCast !=
nullptr)
42 req = std::make_shared<PositionDutyCycle>(*
this);
46 return c_ctre_phoenix6_RequestControlPositionDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(),
Position.to<
double>(),
Velocity.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
IgnoreHardwareLimits,
UseTimesync);
64 units::angular_velocity::turns_per_second_t
Velocity = 0.0_tps;
255 Slot = std::move(newSlot);
381 std::stringstream ss;
382 ss <<
"Control: PositionDutyCycle" << std::endl;
383 ss <<
" Position: " <<
Position.to<
double>() <<
" rotations" << std::endl;
384 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << std::endl;
385 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
386 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" fractional" << std::endl;
387 ss <<
" Slot: " <<
Slot << std::endl;
392 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
403 std::map<std::string, std::string> controlInfo;
404 std::stringstream ss;
405 controlInfo[
"Name"] =
GetName();
406 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
407 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
408 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
409 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
410 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
412 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
413 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
414 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
415 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlPositionDutyCycle(const char *canbus, uint32_t ecuEncoding, double updateFrequency, double Position, double Velocity, 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
Request PID to target position with duty cycle feedforward.
Definition PositionDutyCycle.hpp:30
PositionDutyCycle & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition PositionDutyCycle.hpp:253
units::dimensionless::scalar_t FeedForward
Feedforward to apply in fractional units between -1 and +1.
Definition PositionDutyCycle.hpp:85
PositionDutyCycle & WithVelocity(units::angular_velocity::turns_per_second_t newVelocity)
Modifies this Control Request's Velocity parameter and returns itself for method-chaining and easier ...
Definition PositionDutyCycle.hpp:193
PositionDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition PositionDutyCycle.hpp:218
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition PositionDutyCycle.hpp:123
units::angular_velocity::turns_per_second_t Velocity
Velocity to drive toward in rotations per second.
Definition PositionDutyCycle.hpp:64
PositionDutyCycle & WithFeedForward(units::dimensionless::scalar_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition PositionDutyCycle.hpp:236
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supp...
Definition PositionDutyCycle.hpp:78
units::angle::turn_t Position
Position to drive toward in rotations.
Definition PositionDutyCycle.hpp:56
PositionDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition PositionDutyCycle.hpp:305
bool LimitForwardMotion
Set to true to force forward limiting.
Definition PositionDutyCycle.hpp:104
PositionDutyCycle & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition PositionDutyCycle.hpp:328
int Slot
Select which gains are applied by selecting the slot.
Definition PositionDutyCycle.hpp:91
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition PositionDutyCycle.hpp:401
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition PositionDutyCycle.hpp:98
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition PositionDutyCycle.hpp:147
PositionDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition PositionDutyCycle.hpp:369
PositionDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition PositionDutyCycle.hpp:288
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition PositionDutyCycle.hpp:134
PositionDutyCycle & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition PositionDutyCycle.hpp:350
PositionDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition PositionDutyCycle.hpp:271
PositionDutyCycle & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition PositionDutyCycle.hpp:174
std::string ToString() const override
Returns a string representation of the object.
Definition PositionDutyCycle.hpp:379
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition PositionDutyCycle.hpp:110
PositionDutyCycle(units::angle::turn_t Position)
Request PID to target position with duty cycle feedforward.
Definition PositionDutyCycle.hpp:158
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition Diff_PositionDutyCycle_Position.hpp:15