13#include <units/angular_velocity.h>
14#include <units/angular_acceleration.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<VelocityVoltage>(*
this);
47 return c_ctre_phoenix6_RequestControlVelocityVoltage(network, deviceHash,
UpdateFreqHz.to<
double>(), cancelOtherRequests,
Velocity.to<
double>(),
Acceleration.to<
double>(),
EnableFOC,
FeedForward.to<
double>(),
Slot,
OverrideBrakeDurNeutral,
LimitForwardMotion,
LimitReverseMotion);
54 units::angular_velocity::turns_per_second_t
Velocity;
59 units::angular_acceleration::turns_per_second_squared_t
Acceleration;
256 Slot = std::move(newSlot);
337 std::stringstream ss;
338 ss <<
"class: VelocityVoltage" << std::endl;
339 ss <<
"Velocity: " <<
Velocity.to<
double>() << std::endl;
340 ss <<
"Acceleration: " <<
Acceleration.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 <<
Velocity.to<
double>(); controlInfo[
"Velocity"] = ss.str(); ss.str(std::string{});
361 ss <<
Acceleration.to<
double>(); controlInfo[
"Acceleration"] = 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_RequestControlVelocityVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double Velocity, double Acceleration, 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 velocity with voltage feedforward.
Definition: VelocityVoltage.hpp:31
std::string ToString() const override
Returns a string representation of the object.
Definition: VelocityVoltage.hpp:335
VelocityVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: VelocityVoltage.hpp:272
VelocityVoltage & WithLimitForwardMotion(bool newLimitForwardMotion)
Modifies this Control Request's LimitForwardMotion parameter and returns itself for method-chaining a...
Definition: VelocityVoltage.hpp:289
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: VelocityVoltage.hpp:114
units::angular_velocity::turns_per_second_t Velocity
Velocity to drive toward in rotations per second.
Definition: VelocityVoltage.hpp:54
bool LimitReverseMotion
Set to true to force reverse limiting.
Definition: VelocityVoltage.hpp:101
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: VelocityVoltage.hpp:89
VelocityVoltage & 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: VelocityVoltage.hpp:182
VelocityVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: VelocityVoltage.hpp:237
std::map< std::string, std::string > GetControlInfo() const override
Gets information about this control request.
Definition: VelocityVoltage.hpp:355
VelocityVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: VelocityVoltage.hpp:222
units::angular_acceleration::turns_per_second_squared_t Acceleration
Acceleration to drive toward in rotations per second squared.
Definition: VelocityVoltage.hpp:59
VelocityVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: VelocityVoltage.hpp:254
bool LimitForwardMotion
Set to true to force forward limiting.
Definition: VelocityVoltage.hpp:95
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition: VelocityVoltage.hpp:76
int Slot
Select which gains are applied by selecting the slot.
Definition: VelocityVoltage.hpp:82
VelocityVoltage & WithLimitReverseMotion(bool newLimitReverseMotion)
Modifies this Control Request's LimitReverseMotion parameter and returns itself for method-chaining a...
Definition: VelocityVoltage.hpp:306
bool EnableFOC
Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15%.
Definition: VelocityVoltage.hpp:72
VelocityVoltage & 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: VelocityVoltage.hpp:198
VelocityVoltage(units::angular_velocity::turns_per_second_t Velocity, units::angular_acceleration::turns_per_second_squared_t Acceleration=0.0_tr_per_s_sq, 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 velocity with voltage feedforward.
Definition: VelocityVoltage.hpp:162
VelocityVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: VelocityVoltage.hpp:325
Definition: string_util.hpp:15