13#include <units/angle.h>
14#include <units/angular_velocity.h>
15#include <units/current.h>
16#include <units/frequency.h>
17#include <units/time.h>
33 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
35 if (req.get() !=
this)
38 if (reqCast !=
nullptr)
44 req = std::make_shared<PositionTorqueCurrentFOC>(*
this);
48 return c_ctre_phoenix6_RequestControlPositionTorqueCurrentFOC(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
Position.to<
double>(),
Velocity.to<
double>(),
FeedForward.to<
double>(),
Slot,
OverrideCoastDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
60 units::angular_velocity::turns_per_second_t
Velocity;
211 Slot = std::move(newSlot);
292 std::stringstream ss;
293 ss <<
"class: PositionTorqueCurrentFOC" << std::endl;
294 ss <<
"Position: " <<
Position.to<
double>() << std::endl;
295 ss <<
"Velocity: " <<
Velocity.to<
double>() << std::endl;
296 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
297 ss <<
"Slot: " <<
Slot << std::endl;
311 std::map<std::string, std::string> controlInfo;
312 std::stringstream ss;
313 controlInfo[
"Name"] =
GetName();
314 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
315 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
316 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
317 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
319 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
320 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlPositionTorqueCurrentFOC(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double Position, double Velocity, 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; Request PID to target position with torque current feedforward.
Definition: PositionTorqueCurrentFOC.hpp:32
int Slot
Select which gains are applied by selecting the slot.
Definition: PositionTorqueCurrentFOC.hpp:71
units::angular_velocity::turns_per_second_t Velocity
Velocity to drive toward in rotations per second.
Definition: PositionTorqueCurrentFOC.hpp:60
PositionTorqueCurrentFOC & WithOverrideCoastDurNeutral(bool newOverrideCoastDurNeutral)
Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chain...
Definition: PositionTorqueCurrentFOC.hpp:227
PositionTorqueCurrentFOC(units::angle::turn_t Position, units::angular_velocity::turns_per_second_t Velocity=0.0_tps, units::current::ampere_t FeedForward=0.0_A, int Slot=0, bool OverrideCoastDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Requires Phoenix Pro; Request PID to target position with torque current feedforward.
Definition: PositionTorqueCurrentFOC.hpp:141
PositionTorqueCurrentFOC & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: PositionTorqueCurrentFOC.hpp:209
PositionTorqueCurrentFOC & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: PositionTorqueCurrentFOC.hpp:261
std::string ToString() const override
Returns a string representation of the object.
Definition: PositionTorqueCurrentFOC.hpp:290
PositionTorqueCurrentFOC & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: PositionTorqueCurrentFOC.hpp:160
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: PositionTorqueCurrentFOC.hpp:55
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: PositionTorqueCurrentFOC.hpp:103
units::current::ampere_t FeedForward
Feedforward to apply in torque current in Amperes.
Definition: PositionTorqueCurrentFOC.hpp:65
PositionTorqueCurrentFOC & 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: PositionTorqueCurrentFOC.hpp:176
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: PositionTorqueCurrentFOC.hpp:90
PositionTorqueCurrentFOC & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: PositionTorqueCurrentFOC.hpp:280
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: PositionTorqueCurrentFOC.hpp:84
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: PositionTorqueCurrentFOC.hpp:309
PositionTorqueCurrentFOC & WithFeedForward(units::current::ampere_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: PositionTorqueCurrentFOC.hpp:192
PositionTorqueCurrentFOC & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: PositionTorqueCurrentFOC.hpp:244
bool OverrideCoastDurNeutral
Set to true to coast the rotor when output is zero (or within deadband).
Definition: PositionTorqueCurrentFOC.hpp:78
Definition: string_util.hpp:15