13#include <units/angle.h>
14#include <units/angular_velocity.h>
15#include <units/voltage.h>
16#include <units/frequency.h>
17#include <units/time.h>
32 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
override
34 if (req.get() !=
this)
37 if (reqCast !=
nullptr)
43 req = std::make_shared<PositionVoltage>(*
this);
47 return c_ctre_phoenix6_RequestControlPositionVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
Position.to<
double>(),
Velocity.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
59 units::angular_velocity::turns_per_second_t
Velocity;
256 Slot = std::move(newSlot);
337 std::stringstream ss;
338 ss <<
"class: PositionVoltage" << std::endl;
339 ss <<
"Position: " <<
Position.to<
double>() << std::endl;
340 ss <<
"Velocity: " <<
Velocity.to<
double>() << std::endl;
341 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
342 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
343 ss <<
"Slot: " <<
Slot << std::endl;
357 std::map<std::string, std::string> controlInfo;
358 std::stringstream ss;
359 controlInfo[
"Name"] =
GetName();
360 ss <<
Position.to<
double>(); controlInfo[
"Position"] = ss.str(); ss.str(std::string{});
361 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
362 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
363 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
364 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
366 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
367 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlPositionVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double Position, double Velocity, 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
Request PID to target position with voltage feedforward.
Definition: PositionVoltage.hpp:31
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: PositionVoltage.hpp:114
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: PositionVoltage.hpp:72
PositionVoltage & 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: PositionVoltage.hpp:198
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: PositionVoltage.hpp:101
PositionVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: PositionVoltage.hpp:254
PositionVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: PositionVoltage.hpp:237
PositionVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: PositionVoltage.hpp:222
PositionVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: PositionVoltage.hpp:289
PositionVoltage(units::angle::turn_t Position, units::angular_velocity::turns_per_second_t Velocity=0.0_tps, bool EnableFOC=true, units::voltage::volt_t FeedForward=0.0_V, int Slot=0, bool OverrideBrakeDurNeutral=false, bool LimitForwardMotion=false, bool LimitReverseMotion=false)
Request PID to target position with voltage feedforward.
Definition: PositionVoltage.hpp:162
std::string ToString() const override
Returns a string representation of the object.
Definition: PositionVoltage.hpp:335
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: PositionVoltage.hpp:54
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: PositionVoltage.hpp:355
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition: PositionVoltage.hpp:76
int Slot
Select which gains are applied by selecting the slot.
Definition: PositionVoltage.hpp:82
PositionVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: PositionVoltage.hpp:325
PositionVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: PositionVoltage.hpp:306
PositionVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: PositionVoltage.hpp:272
PositionVoltage & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: PositionVoltage.hpp:182
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: PositionVoltage.hpp:89
units::angular_velocity::turns_per_second_t Velocity
Velocity to drive toward in rotations per second.
Definition: PositionVoltage.hpp:59
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: PositionVoltage.hpp:95
Definition: string_util.hpp:15