Motion Profile Trajectory Point This is simply a data transfer object. More...

#include <ctre/phoenix/motion/TrajectoryPoint.h>

Public Member Functions
	TrajectoryPoint ()

	TrajectoryPoint (double position, double velocity, double arbFeedFwd, double auxiliaryPos, double auxiliaryVel, double auxiliaryArbFeedFwd, uint32_t profileSlotSelect0, uint32_t profileSlotSelect1, bool isLastPoint, bool zeroPos, uint32_t timeDur, bool useAuxPID)
	Create a trajectory point with specified values. More...

Public Attributes
double	position = 0
	The position to servo to (in sensor units). More...

double	velocity = 0
	The velocity to feed-forward (in sensor-units per 100ms). More...

double	arbFeedFwd = 0
	Added to the output of PID[0], should be within [-1,+1] where 0.01 = 1%. More...

double	headingDeg = 0
	Not used. More...

double	auxiliaryPos = 0
	The position for auxiliary PID[1] to target (in sensor units). More...

double	auxiliaryVel = 0
	The velocity for auxiliary PID[1] to target. More...

double	auxiliaryArbFeedFwd = 0
	Added to the output of PID[1], should be within [-1,+1] where 0.01 = 1%. More...

uint32_t	profileSlotSelect0 = 0
	Which slot to get PIDF gains. More...

uint32_t	profileSlotSelect1 = 0
	Which slot to get PIDF gains for auxiliary PID. More...

bool	isLastPoint = false
	Set to true to signal Talon that this is the final point, so do not attempt to pop another trajectory point from out of the Talon buffer. More...

bool	zeroPos = false
	Set to true to signal Talon to zero the selected sensor. More...

int	timeDur = 0
	Duration (ms) to apply this trajectory pt. More...

bool	useAuxPID = false
	If using MotionProfileArc, this flag must be true on all points. More...

Detailed Description

Motion Profile Trajectory Point This is simply a data transfer object.

Constructor & Destructor Documentation

◆ TrajectoryPoint() [1/2]

ctre::phoenix::motion::TrajectoryPoint::TrajectoryPoint ( )

inline

◆ TrajectoryPoint() [2/2]

ctre::phoenix::motion::TrajectoryPoint::TrajectoryPoint	(	double	position,
		double	velocity,
		double	arbFeedFwd,
		double	auxiliaryPos,
		double	auxiliaryVel,
		double	auxiliaryArbFeedFwd,
		uint32_t	profileSlotSelect0,
		uint32_t	profileSlotSelect1,
		bool	isLastPoint,
		bool	zeroPos,
		uint32_t	timeDur,
		bool	useAuxPID
	)

inline

Create a trajectory point with specified values.

Parameters

position	The position to servo to (in sensor units).
velocity	The velocity to feed-forward (in sensor-units per 100ms).
arbFeedFwd	Added to the output of PID[0], should be within [-1,+1] where 0.01 = 1%.
auxiliaryPos	The position for auxiliary PID[1] to target (in sensor units).
auxiliaryVel	The velocity for auxiliary PID[1] to target. (in sensor-units per 100ms).
auxiliaryArbFeedFwd	Added to the output of PID[1], should be within [-1,+1] where 0.01 = 1%.
profileSlotSelect0	The slot to select for base PIDF gains
profileSlotSelect1	The slot to select for auxiliary PIDF gains
isLastPoint	True if this is the last piont
zeroPos	True if the motor controller should zero the sensor position
timeDur	The time duration of this point
useAuxPID	Enables the auxiliary PID

Member Data Documentation

◆ arbFeedFwd

double ctre::phoenix::motion::TrajectoryPoint::arbFeedFwd = 0

Added to the output of PID[0], should be within [-1,+1] where 0.01 = 1%.

◆ auxiliaryArbFeedFwd

double ctre::phoenix::motion::TrajectoryPoint::auxiliaryArbFeedFwd = 0

Added to the output of PID[1], should be within [-1,+1] where 0.01 = 1%.

◆ auxiliaryPos

double ctre::phoenix::motion::TrajectoryPoint::auxiliaryPos = 0

The position for auxiliary PID[1] to target (in sensor units).

◆ auxiliaryVel

double ctre::phoenix::motion::TrajectoryPoint::auxiliaryVel = 0

The velocity for auxiliary PID[1] to target.

(in sensor-units per 100ms).

◆ headingDeg

double ctre::phoenix::motion::TrajectoryPoint::headingDeg = 0

Not used.

Use auxiliaryPos instead.

See also: auxiliaryPos

◆ isLastPoint

bool ctre::phoenix::motion::TrajectoryPoint::isLastPoint = false

Set to true to signal Talon that this is the final point, so do not attempt to pop another trajectory point from out of the Talon buffer.

Instead continue processing this way point. Typically the velocity member variable should be zero so that the motor doesn't spin indefinitely.

◆ position

double ctre::phoenix::motion::TrajectoryPoint::position = 0

The position to servo to (in sensor units).

◆ profileSlotSelect0

uint32_t ctre::phoenix::motion::TrajectoryPoint::profileSlotSelect0 = 0

Which slot to get PIDF gains.

PID is used for position servo. F is used as the Kv constant for velocity feed-forward. Typically this is hard-coded to a particular slot, but you are free to gain schedule if need be. gain schedule if need be. Choose from [0,3].

◆ profileSlotSelect1

uint32_t ctre::phoenix::motion::TrajectoryPoint::profileSlotSelect1 = 0

Which slot to get PIDF gains for auxiliary PID.

This only has impact during MotionProfileArc Control mode. Choose from [0,3].

◆ timeDur

int ctre::phoenix::motion::TrajectoryPoint::timeDur = 0

Duration (ms) to apply this trajectory pt.

This time unit is ADDED to the existing base time set by ConfigMotionProfileTrajectoryPeriod().

◆ useAuxPID

bool ctre::phoenix::motion::TrajectoryPoint::useAuxPID = false

If using MotionProfileArc, this flag must be true on all points.

If using MotionProfile, this flag must be false on all points.

◆ velocity

double ctre::phoenix::motion::TrajectoryPoint::velocity = 0

The velocity to feed-forward (in sensor-units per 100ms).

◆ zeroPos

bool ctre::phoenix::motion::TrajectoryPoint::zeroPos = false

Set to true to signal Talon to zero the selected sensor.

When generating MPs, one simple method is to make the first target position zero, and the final target position the target distance from the current position. Then when you fire the MP, the current position gets set to zero. If this is the intent, you can set zeroPos on the first trajectory point.

Otherwise you can leave this false for all points, and offset the positions of all trajectory points so they are correct.

If using multiple sensor sources (Arc modes) we recommend you manually set sensor positions before arming MP.

The documentation for this struct was generated from the following file:

ctre/phoenix/motion/TrajectoryPoint.h

Public Member Functions

Public Attributes