MotionProfileStatus.h

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/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
#include "ctre/phoenix/motion/SetValueMotionProfile.h"
#include "ctre/phoenix/motion/TrajectoryPoint.h"
 
namespace ctre {
namespace phoenix {
namespace motion {
 
/**
 * Motion Profile Status
 * This is simply a data transer object.
 */
struct MotionProfileStatus {
    /**
     * The available empty slots in the trajectory buffer.
     *
     * The robot API holds a "top buffer" of trajectory points, so your applicaion
     * can dump several points at once.  The API will then stream them into the Talon's
     * low-level buffer, allowing the Talon to act on them.
     */
    size_t topBufferRem;
    /**
     * The number of points in the top trajectory buffer.
     */
    size_t topBufferCnt;
    /**
     * The number of points in the low level Talon/Victor buffer.
     */
    int btmBufferCnt;
    /**
     * Set if isUnderrun ever gets set.
     * Can be manually cleared by ClearMotionProfileHasUnderrun() or automatically cleared by StartMotionProfile().
     * @see clearMotionProfileHasUnderrun()
     */
    bool hasUnderrun;
    /**
     * This is set if Talon/Victor needs to shift a point from its buffer into
     * the active trajectory point however the buffer is empty. This gets cleared
     * automatically when is resolved.
     */
    bool isUnderrun;
    /**
     * True if the active trajectory point is not empty, false otherwise.
     * The members in activePoint are only valid if this signal is set.
     */
    bool activePointValid;
 
    /**
     * True if the active trajectory point is the last point of the profile
     */
    bool isLast;
 
    /**
     * The selected PID[0] profile slot of current profile
     */
    int profileSlotSelect0;
 
    /**
     * The selected auxiliary PID[1] profile slot of current profile
     */
    int profileSlotSelect1;
 
    /**
     * The current output mode of the motion profile executer (disabled, enabled, or hold).
     * When changing the set() value in MP mode, it's important to check this signal to
     * confirm the change takes effect before interacting with the top buffer.
     */
    ctre::phoenix::motion::SetValueMotionProfile outputEnable;
 
    /** The applied duration of the active trajectory point */
    int timeDurMs;
};
 
} // namespace motion
} // namespace phoenix
} // namespace ctre