12#include <units/angular_velocity.h>
13#include <units/angular_acceleration.h>
14#include <units/dimensionless.h>
15#include <units/frequency.h>
16#include <units/time.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<VelocityDutyCycle>(*
this);
46 return c_ctre_phoenix6_RequestControlVelocityDutyCycle(network, deviceHash,
UpdateFreqHz.to<
double>(),
Velocity.to<
double>(),
Acceleration.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion,
IgnoreHardwareLimits,
UseTimesync);
56 units::angular_velocity::turns_per_second_t
Velocity;
64 units::angular_acceleration::turns_per_second_squared_t
Acceleration = 0.0_tr_per_s_sq;
253 Slot = std::move(newSlot);
379 std::stringstream ss;
380 ss <<
"Control: VelocityDutyCycle" << std::endl;
381 ss <<
" Velocity: " <<
Velocity.to<
double>() <<
" rotations per second" << std::endl;
382 ss <<
" Acceleration: " <<
Acceleration.to<
double>() <<
" rotations per second²" << std::endl;
383 ss <<
" EnableFOC: " <<
EnableFOC << std::endl;
384 ss <<
" FeedForward: " <<
FeedForward.to<
double>() <<
" fractional" << std::endl;
385 ss <<
" Slot: " <<
Slot << std::endl;
390 ss <<
" UseTimesync: " <<
UseTimesync << std::endl;
401 std::map<std::string, std::string> controlInfo;
402 std::stringstream ss;
403 controlInfo[
"Name"] =
GetName();
404 ss <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
405 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = ss.str(); ss.str(std::string{});
406 ss <<
EnableFOC; controlInfo[
"EnableFOC"] = ss.str(); ss.str(std::string{});
407 ss <<
FeedForward.to<
double>(); controlInfo[
"FeedForward"] = ss.str(); ss.str(std::string{});
408 ss <<
Slot; controlInfo[
"Slot"] = ss.str(); ss.str(std::string{});
410 ss <<
LimitForwardMotion; controlInfo[
"LimitForwardMotion"] = ss.str(); ss.str(std::string{});
411 ss <<
LimitReverseMotion; controlInfo[
"LimitReverseMotion"] = ss.str(); ss.str(std::string{});
412 ss <<
IgnoreHardwareLimits; controlInfo[
"IgnoreHardwareLimits"] = ss.str(); ss.str(std::string{});
413 ss <<
UseTimesync; controlInfo[
"UseTimesync"] = ss.str(); ss.str(std::string{});
CTREXPORT int c_ctre_phoenix6_RequestControlVelocityDutyCycle(const char *canbus, uint32_t ecuEncoding, double updateTime, double Velocity, double Acceleration, 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 velocity with duty cycle feedforward.
Definition VelocityDutyCycle.hpp:30
int Slot
Select which gains are applied by selecting the slot.
Definition VelocityDutyCycle.hpp:90
VelocityDutyCycle & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition VelocityDutyCycle.hpp:251
units::angular_acceleration::turns_per_second_squared_t Acceleration
Acceleration to drive toward in rotations per second squared.
Definition VelocityDutyCycle.hpp:64
VelocityDutyCycle & 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 VelocityDutyCycle.hpp:173
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition VelocityDutyCycle.hpp:97
VelocityDutyCycle & WithFeedForward(units::dimensionless::scalar_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition VelocityDutyCycle.hpp:234
VelocityDutyCycle & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition VelocityDutyCycle.hpp:286
bool IgnoreHardwareLimits
Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion param...
Definition VelocityDutyCycle.hpp:122
VelocityDutyCycle & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition VelocityDutyCycle.hpp:367
VelocityDutyCycle & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition VelocityDutyCycle.hpp:216
VelocityDutyCycle & WithUseTimesync(bool newUseTimesync)
Modifies this Control Request's UseTimesync parameter and returns itself for method-chaining and easi...
Definition VelocityDutyCycle.hpp:348
VelocityDutyCycle(units::angular_velocity::turns_per_second_t Velocity)
Request PID to target velocity with duty cycle feedforward.
Definition VelocityDutyCycle.hpp:157
units::angular_velocity::turns_per_second_t Velocity
Velocity to drive toward in rotations per second.
Definition VelocityDutyCycle.hpp:56
VelocityDutyCycle & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition VelocityDutyCycle.hpp:269
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition VelocityDutyCycle.hpp:399
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition VelocityDutyCycle.hpp:146
VelocityDutyCycle & WithAcceleration(units::angular_acceleration::turns_per_second_squared_t newAcceleration)
Modifies this Control Request's Acceleration parameter and returns itself for method-chaining and eas...
Definition VelocityDutyCycle.hpp:192
units::dimensionless::scalar_t FeedForward
Feedforward to apply in fractional units between -1 and +1.
Definition VelocityDutyCycle.hpp:84
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition VelocityDutyCycle.hpp:77
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition VelocityDutyCycle.hpp:109
VelocityDutyCycle & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition VelocityDutyCycle.hpp:303
std::string ToString() const override
Returns a string representation of the object.
Definition VelocityDutyCycle.hpp:377
bool UseTimesync
Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro an...
Definition VelocityDutyCycle.hpp:133
bool LimitForwardMotion
Set to true to force forward limiting.
Definition VelocityDutyCycle.hpp:103
VelocityDutyCycle & WithIgnoreHardwareLimits(bool newIgnoreHardwareLimits)
Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for method-chaining...
Definition VelocityDutyCycle.hpp:326
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
Definition MotionMagicExpoTorqueCurrentFOC.hpp:18