13#include <units/angle.h>
14#include <units/voltage.h>
15#include <units/frequency.h>
16#include <units/time.h>
34 bool ApplyConfigsOnRequest;
36 ctre::phoenix::StatusCode SendRequest(
const char *network, uint32_t deviceHash,
bool cancelOtherRequests, std::shared_ptr<ControlRequest> &req)
40 ss <<
Position.to<
double>(); ref[
"Position"] = ss.str(); ss.str(std::string());
41 ss <<
EnableFOC; ref[
"EnableFOC"] = ss.str(); ss.str(std::string());
42 ss <<
FeedForward.to<
double>(); ref[
"FeedForward"] = ss.str(); ss.str(std::string());
43 ss <<
Slot; ref[
"Slot"] = ss.str(); ss.str(std::string());
46 if (req.get() !=
this)
49 if (reqCast !=
nullptr)
55 req = std::make_shared<MotionMagicVoltage>(*
this);
60 std::string strs{ss.str()};
62 ApplyConfigsOnRequest =
false;
270 std::stringstream ss;
271 ss <<
"class: MotionMagicVoltage" << std::endl;
272 ss <<
"Position: " <<
Position.to<
double>() << std::endl;
273 ss <<
"EnableFOC: " <<
EnableFOC << std::endl;
274 ss <<
"FeedForward: " <<
FeedForward.to<
double>() << std::endl;
275 ss <<
"Slot: " <<
Slot << std::endl;
CTREXPORT int c_ctre_phoenixpro_requestConfigApply(const char *canbus, uint32_t ecuEncoding, double timeoutSeconds, const char *str, uint32_t strlen, bool forceApply)
CTREXPORT int c_ctre_phoenixpro_RequestControlMotionMagicVoltage(const char *canbus, uint32_t ecuEncoding, double updateTime, bool cancelOtherRequests, double Position, bool EnableFOC, double FeedForward, int Slot, bool OverrideBrakeDurNeutral)
std::map< std::string, std::string > & GetNameValues()
Gets the map of control parameter names to the corresponding applied value.
Definition: ControlRequest.hpp:52
Abstract Control Request class that other control requests extend for use.
Definition: ControlRequest.hpp:65
ControlInfo requestReference
Definition: ControlRequest.hpp:70
Requests Motion Magic® to target a final position using a motion profile.
Definition: MotionMagicVoltage.hpp:33
MotionMagicVoltage & WithUpdateFreqHz(units::frequency::hertz_t newUpdateFreqHz)
Sets the period at which this control will update at.
Definition: MotionMagicVoltage.hpp:258
bool EnableFOC
Set to true to use FOC commutation, which increases peak power by ~15%.
Definition: MotionMagicVoltage.hpp:81
std::string ToString() const
Returns a string representation of the object.
Definition: MotionMagicVoltage.hpp:268
void ForceApplyConfigs()
Forces configs to be applied the next time this is used in a setControl.
Definition: MotionMagicVoltage.hpp:285
MotionMagicVoltage & WithFeedForward(units::voltage::volt_t newFeedForward)
Modifies this Control Request's FeedForward parameter and returns itself for method-chaining and easi...
Definition: MotionMagicVoltage.hpp:215
MotionMagicVoltage & WithSlot(int newSlot)
Modifies this Control Request's Slot parameter and returns itself for method-chaining and easier to u...
Definition: MotionMagicVoltage.hpp:227
MotionMagicVoltage & WithPosition(units::angle::turn_t newPosition)
Modifies this Control Request's Position parameter and returns itself for method-chaining and easier ...
Definition: MotionMagicVoltage.hpp:191
bool OverrideBrakeDurNeutral
Set to true to static-brake the rotor when output is zero (or within deadband).
Definition: MotionMagicVoltage.hpp:98
MotionMagicVoltage(units::angle::turn_t Position, bool EnableFOC, units::voltage::volt_t FeedForward, int Slot, bool OverrideBrakeDurNeutral)
Requests Motion Magic® to target a final position using a motion profile.
Definition: MotionMagicVoltage.hpp:159
units::frequency::hertz_t UpdateFreqHz
The period at which this control will update at.
Definition: MotionMagicVoltage.hpp:118
units::time::second_t ConfigTimeout
The timeout when sending configs associated with this control.
Definition: MotionMagicVoltage.hpp:105
units::voltage::volt_t FeedForward
Feedforward to apply in volts.
Definition: MotionMagicVoltage.hpp:85
MotionMagicVoltage & WithOverrideBrakeDurNeutral(bool newOverrideBrakeDurNeutral)
Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for method-chain...
Definition: MotionMagicVoltage.hpp:239
units::angle::turn_t Position
Position to drive toward in rotations.
Definition: MotionMagicVoltage.hpp:70
MotionMagicVoltage & WithEnableFOC(bool newEnableFOC)
Modifies this Control Request's EnableFOC parameter and returns itself for method-chaining and easier...
Definition: MotionMagicVoltage.hpp:203
MotionMagicVoltage(units::angle::turn_t Position)
Requests Motion Magic® to target a final position using a motion profile.
Definition: MotionMagicVoltage.hpp:182
int Slot
Select which gains are applied by selecting the slot.
Definition: MotionMagicVoltage.hpp:91
Definition: string_util.hpp:14