13#include <units/angular_velocity.h>
14#include <units/angular_acceleration.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<VelocityTorqueCurrentFOC>(*
this);
48 return c_ctre_phoenix6_RequestControlVelocityTorqueCurrentFOC(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
Velocity.to<
double>(),
Acceleration.to<
double>(),
FeedForward.to<
double>(),
Slot,
OverrideCoastDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
55 units::angular_velocity::turns_per_second_t
Velocity;
60 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
211 Slot = std::move(newSlot);
292 std::stringstream ss;
293 ss <<
"class: VelocityTorqueCurrentFOC" << std::endl;
294 ss <<
"Velocity: " <<
Velocity.to<
double>() << std::endl;
295 ss <<
"Acceleration: " <<
Acceleration.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 <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
315 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = 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_RequestControlVelocityTorqueCurrentFOC(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double Velocity, double Acceleration, 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 velocity with torque current feedforward.
Definition: VelocityTorqueCurrentFOC.hpp:32
units::angular_acceleration::turns_per_second_squared_t Acceleration
Acceleration to drive toward in rotations per second squared.
Definition: VelocityTorqueCurrentFOC.hpp:60
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: VelocityTorqueCurrentFOC.hpp:309
VelocityTorqueCurrentFOC & WithOverrideCoastDurNeutral(bool newOverrideCoastDurNeutral)
Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for method-chain...
Definition: VelocityTorqueCurrentFOC.hpp:227
bool OverrideCoastDurNeutral
Set to true to coast the rotor when output is zero (or within deadband).
Definition: VelocityTorqueCurrentFOC.hpp:78
units::angular_velocity::turns_per_second_t Velocity
Velocity to drive toward in rotations per second.
Definition: VelocityTorqueCurrentFOC.hpp:55
units::current::ampere_t FeedForward
Feedforward to apply in torque current in Amperes.
Definition: VelocityTorqueCurrentFOC.hpp:65
VelocityTorqueCurrentFOC & 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: VelocityTorqueCurrentFOC.hpp:160
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: VelocityTorqueCurrentFOC.hpp:103
VelocityTorqueCurrentFOC(units::angular_velocity::turns_per_second_t Velocity, units::angular_acceleration::turns_per_second_squared_t Acceleration=0.0_tr_per_s_sq, 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 velocity with torque current feedforward.
Definition: VelocityTorqueCurrentFOC.hpp:141
VelocityTorqueCurrentFOC & WithFeedForward(units::current::ampere_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: VelocityTorqueCurrentFOC.hpp:192
VelocityTorqueCurrentFOC & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: VelocityTorqueCurrentFOC.hpp:209
VelocityTorqueCurrentFOC & 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: VelocityTorqueCurrentFOC.hpp:176
int Slot
Select which gains are applied by selecting the slot.
Definition: VelocityTorqueCurrentFOC.hpp:71
VelocityTorqueCurrentFOC & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: VelocityTorqueCurrentFOC.hpp:244
std::string ToString() const override
Returns a string representation of the object.
Definition: VelocityTorqueCurrentFOC.hpp:290
VelocityTorqueCurrentFOC & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: VelocityTorqueCurrentFOC.hpp:261
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: VelocityTorqueCurrentFOC.hpp:90
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: VelocityTorqueCurrentFOC.hpp:84
VelocityTorqueCurrentFOC & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: VelocityTorqueCurrentFOC.hpp:280
Definition: string_util.hpp:15