001/*
002 * Copyright (C) Cross The Road Electronics.  All rights reserved.
003 * License information can be found in CTRE_LICENSE.txt
004 * For support and suggestions contact support@ctr-electronics.com or file
005 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases
006 */
007package com.ctre.phoenix6.controls.jni;
008
009import com.ctre.phoenix6.jni.CtreJniWrapper;
010
011public class ControlJNI extends CtreJniWrapper {
012    public static native int JNI_RequestControlEmpty(
013            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests);
014    public static native int JNI_RequestControlDutyCycleOut(
015            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Output, boolean EnableFOC, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
016    public static native int JNI_RequestControlTorqueCurrentFOC(
017            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Output, double MaxAbsDutyCycle, double Deadband, boolean OverrideCoastDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
018    public static native int JNI_RequestControlVoltageOut(
019            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Output, boolean EnableFOC, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
020    public static native int JNI_RequestControlPositionDutyCycle(
021            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Position, double Velocity, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
022    public static native int JNI_RequestControlPositionVoltage(
023            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Position, double Velocity, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
024    public static native int JNI_RequestControlPositionTorqueCurrentFOC(
025            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Position, double Velocity, double FeedForward, int Slot, boolean OverrideCoastDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
026    public static native int JNI_RequestControlVelocityDutyCycle(
027            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Velocity, double Acceleration, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
028    public static native int JNI_RequestControlVelocityVoltage(
029            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Velocity, double Acceleration, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
030    public static native int JNI_RequestControlVelocityTorqueCurrentFOC(
031            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Velocity, double Acceleration, double FeedForward, int Slot, boolean OverrideCoastDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
032    public static native int JNI_RequestControlMotionMagicDutyCycle(
033            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Position, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
034    public static native int JNI_RequestControlMotionMagicVoltage(
035            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Position, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
036    public static native int JNI_RequestControlMotionMagicTorqueCurrentFOC(
037            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Position, double FeedForward, int Slot, boolean OverrideCoastDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
038    public static native int JNI_RequestControlDifferentialDutyCycle(
039            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double TargetOutput, double DifferentialPosition, boolean EnableFOC, int DifferentialSlot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
040    public static native int JNI_RequestControlDifferentialVoltage(
041            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double TargetOutput, double DifferentialPosition, boolean EnableFOC, int DifferentialSlot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
042    public static native int JNI_RequestControlDifferentialPositionDutyCycle(
043            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double TargetPosition, double DifferentialPosition, boolean EnableFOC, int TargetSlot, int DifferentialSlot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
044    public static native int JNI_RequestControlDifferentialPositionVoltage(
045            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double TargetPosition, double DifferentialPosition, boolean EnableFOC, int TargetSlot, int DifferentialSlot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
046    public static native int JNI_RequestControlDifferentialVelocityDutyCycle(
047            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double TargetVelocity, double DifferentialPosition, boolean EnableFOC, int TargetSlot, int DifferentialSlot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
048    public static native int JNI_RequestControlDifferentialVelocityVoltage(
049            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double TargetVelocity, double DifferentialPosition, boolean EnableFOC, int TargetSlot, int DifferentialSlot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
050    public static native int JNI_RequestControlDifferentialMotionMagicDutyCycle(
051            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double TargetPosition, double DifferentialPosition, boolean EnableFOC, int TargetSlot, int DifferentialSlot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
052    public static native int JNI_RequestControlDifferentialMotionMagicVoltage(
053            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double TargetPosition, double DifferentialPosition, boolean EnableFOC, int TargetSlot, int DifferentialSlot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
054    public static native int JNI_RequestControlFollower(
055            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, int MasterID, boolean OpposeMasterDirection);
056    public static native int JNI_RequestControlStrictFollower(
057            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, int MasterID);
058    public static native int JNI_RequestControlDifferentialFollower(
059            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, int MasterID, boolean OpposeMasterDirection);
060    public static native int JNI_RequestControlDifferentialStrictFollower(
061            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, int MasterID);
062    public static native int JNI_RequestControlNeutralOut(
063            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests);
064    public static native int JNI_RequestControlCoastOut(
065            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests);
066    public static native int JNI_RequestControlStaticBrake(
067            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests);
068    public static native int JNI_RequestControlBalanceBattery(
069            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests);
070    public static native int JNI_RequestControlBMSManualIsolator(
071            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, boolean Enable);
072    public static native int JNI_RequestControlBMSManualVboost(
073            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, boolean EnableClosedLoop, double TargetVoltage, double TargetDutyCycle);
074    public static native int JNI_RequestControlBMSManualPwmJunction(
075            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, int JunctionSelect, double JunctionDutyCycle);
076    public static native int JNI_RequestControlBMSClearFault(
077            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests);
078    public static native int JNI_RequestControlMusicTone(
079            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AudioFrequency);
080    public static native int JNI_RequestControlMotionMagicVelocityDutyCycle(
081            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Velocity, double Acceleration, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
082    public static native int JNI_RequestControlMotionMagicVelocityTorqueCurrentFOC(
083            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Velocity, double Acceleration, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideCoastDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
084    public static native int JNI_RequestControlMotionMagicVelocityVoltage(
085            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Velocity, double Acceleration, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
086    public static native int JNI_RequestControlMotionMagicExpoDutyCycle(
087            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Position, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
088    public static native int JNI_RequestControlMotionMagicExpoVoltage(
089            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Position, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
090    public static native int JNI_RequestControlMotionMagicExpoTorqueCurrentFOC(
091            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Position, double FeedForward, int Slot, boolean OverrideCoastDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
092    public static native int JNI_RequestControlDynamicMotionMagicDutyCycle(
093            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Position, double Velocity, double Acceleration, double Jerk, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
094    public static native int JNI_RequestControlDynamicMotionMagicVoltage(
095            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Position, double Velocity, double Acceleration, double Jerk, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
096    public static native int JNI_RequestControlDynamicMotionMagicTorqueCurrentFOC(
097            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double Position, double Velocity, double Acceleration, double Jerk, double FeedForward, int Slot, boolean OverrideCoastDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion);
098    public static native int JNI_RequestControlDiff_DutyCycleOut_Position(
099            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Output, boolean AverageRequest_EnableFOC, boolean AverageRequest_OverrideBrakeDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Position, double DifferentialRequest_Velocity, boolean DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideBrakeDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
100    public static native int JNI_RequestControlDiff_PositionDutyCycle_Position(
101            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Position, double AverageRequest_Velocity, boolean AverageRequest_EnableFOC, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideBrakeDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Position, double DifferentialRequest_Velocity, boolean DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideBrakeDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
102    public static native int JNI_RequestControlDiff_VelocityDutyCycle_Position(
103            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Velocity, double AverageRequest_Acceleration, boolean AverageRequest_EnableFOC, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideBrakeDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Position, double DifferentialRequest_Velocity, boolean DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideBrakeDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
104    public static native int JNI_RequestControlDiff_MotionMagicDutyCycle_Position(
105            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Position, boolean AverageRequest_EnableFOC, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideBrakeDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Position, double DifferentialRequest_Velocity, boolean DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideBrakeDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
106    public static native int JNI_RequestControlDiff_DutyCycleOut_Velocity(
107            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Output, boolean AverageRequest_EnableFOC, boolean AverageRequest_OverrideBrakeDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Velocity, double DifferentialRequest_Acceleration, boolean DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideBrakeDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
108    public static native int JNI_RequestControlDiff_PositionDutyCycle_Velocity(
109            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Position, double AverageRequest_Velocity, boolean AverageRequest_EnableFOC, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideBrakeDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Velocity, double DifferentialRequest_Acceleration, boolean DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideBrakeDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
110    public static native int JNI_RequestControlDiff_VelocityDutyCycle_Velocity(
111            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Velocity, double AverageRequest_Acceleration, boolean AverageRequest_EnableFOC, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideBrakeDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Velocity, double DifferentialRequest_Acceleration, boolean DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideBrakeDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
112    public static native int JNI_RequestControlDiff_MotionMagicDutyCycle_Velocity(
113            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Position, boolean AverageRequest_EnableFOC, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideBrakeDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Velocity, double DifferentialRequest_Acceleration, boolean DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideBrakeDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
114    public static native int JNI_RequestControlDiff_VoltageOut_Position(
115            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Output, boolean AverageRequest_EnableFOC, boolean AverageRequest_OverrideBrakeDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Position, double DifferentialRequest_Velocity, boolean DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideBrakeDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
116    public static native int JNI_RequestControlDiff_PositionVoltage_Position(
117            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Position, double AverageRequest_Velocity, boolean AverageRequest_EnableFOC, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideBrakeDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Position, double DifferentialRequest_Velocity, boolean DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideBrakeDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
118    public static native int JNI_RequestControlDiff_VelocityVoltage_Position(
119            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Velocity, double AverageRequest_Acceleration, boolean AverageRequest_EnableFOC, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideBrakeDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Position, double DifferentialRequest_Velocity, boolean DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideBrakeDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
120    public static native int JNI_RequestControlDiff_MotionMagicVoltage_Position(
121            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Position, boolean AverageRequest_EnableFOC, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideBrakeDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Position, double DifferentialRequest_Velocity, boolean DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideBrakeDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
122    public static native int JNI_RequestControlDiff_VoltageOut_Velocity(
123            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Output, boolean AverageRequest_EnableFOC, boolean AverageRequest_OverrideBrakeDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Velocity, double DifferentialRequest_Acceleration, boolean DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideBrakeDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
124    public static native int JNI_RequestControlDiff_PositionVoltage_Velocity(
125            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Position, double AverageRequest_Velocity, boolean AverageRequest_EnableFOC, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideBrakeDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Velocity, double DifferentialRequest_Acceleration, boolean DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideBrakeDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
126    public static native int JNI_RequestControlDiff_VelocityVoltage_Velocity(
127            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Velocity, double AverageRequest_Acceleration, boolean AverageRequest_EnableFOC, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideBrakeDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Velocity, double DifferentialRequest_Acceleration, boolean DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideBrakeDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
128    public static native int JNI_RequestControlDiff_MotionMagicVoltage_Velocity(
129            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Position, boolean AverageRequest_EnableFOC, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideBrakeDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Velocity, double DifferentialRequest_Acceleration, boolean DifferentialRequest_EnableFOC, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideBrakeDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
130    public static native int JNI_RequestControlDiff_TorqueCurrentFOC_Position(
131            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Output, double AverageRequest_MaxAbsDutyCycle, double AverageRequest_Deadband, boolean AverageRequest_OverrideCoastDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Position, double DifferentialRequest_Velocity, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideCoastDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
132    public static native int JNI_RequestControlDiff_PositionTorqueCurrentFOC_Position(
133            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Position, double AverageRequest_Velocity, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideCoastDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Position, double DifferentialRequest_Velocity, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideCoastDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
134    public static native int JNI_RequestControlDiff_VelocityTorqueCurrentFOC_Position(
135            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Velocity, double AverageRequest_Acceleration, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideCoastDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Position, double DifferentialRequest_Velocity, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideCoastDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
136    public static native int JNI_RequestControlDiff_MotionMagicTorqueCurrentFOC_Position(
137            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Position, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideCoastDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Position, double DifferentialRequest_Velocity, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideCoastDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
138    public static native int JNI_RequestControlDiff_TorqueCurrentFOC_Velocity(
139            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Output, double AverageRequest_MaxAbsDutyCycle, double AverageRequest_Deadband, boolean AverageRequest_OverrideCoastDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Velocity, double DifferentialRequest_Acceleration, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideCoastDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
140    public static native int JNI_RequestControlDiff_PositionTorqueCurrentFOC_Velocity(
141            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Position, double AverageRequest_Velocity, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideCoastDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Velocity, double DifferentialRequest_Acceleration, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideCoastDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
142    public static native int JNI_RequestControlDiff_VelocityTorqueCurrentFOC_Velocity(
143            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Velocity, double AverageRequest_Acceleration, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideCoastDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Velocity, double DifferentialRequest_Acceleration, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideCoastDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
144    public static native int JNI_RequestControlDiff_MotionMagicTorqueCurrentFOC_Velocity(
145            String canbus, int deviceHash, double updateTime, boolean cancelOtherRequests, double AverageRequest_Position, double AverageRequest_FeedForward, int AverageRequest_Slot, boolean AverageRequest_OverrideCoastDurNeutral, boolean AverageRequest_LimitForwardMotion, boolean AverageRequest_LimitReverseMotion, double DifferentialRequest_Velocity, double DifferentialRequest_Acceleration, double DifferentialRequest_FeedForward, int DifferentialRequest_Slot, boolean DifferentialRequest_OverrideCoastDurNeutral, boolean DifferentialRequest_LimitForwardMotion, boolean DifferentialRequest_LimitReverseMotion);
146}