Package com.ctre.phoenix.motion

Class MotionProfileStatus

java.lang.Object

com.ctre.phoenix.motion.MotionProfileStatus

public class MotionProfileStatus
extends Object

Motion Profile Status This is simply a data transer object.

Field Summary

Fields

Modifier and Type	Field	Description
boolean	activePointValid	True if the active trajectory point is not empty, false otherwise.
int	btmBufferCnt	The number of points in the low level Talon/Victor buffer.
boolean	hasUnderrun	Set if isUnderrun ever gets set.
boolean	isLast	True if the active trajectory point is the last point of the profile
boolean	isUnderrun	This is set if Talon/Victor needs to shift a point from its buffer into the active trajectory point however the buffer is empty.
SetValueMotionProfile	outputEnable	The current output mode of the motion profile executer (disabled, enabled, or hold).
int	profileSlotSelect	The selected PID[0] profile slot of current profile
int	profileSlotSelect1	The selected auxiliary PID[1] profile slot of current profile
int	timeDurMs	The duration in ms of current trajectory point
int	topBufferCnt	The number of points in the top trajectory buffer.
int	topBufferRem	The available empty slots in the trajectory buffer.

Constructor Summary

Constructors

Constructor	Description
MotionProfileStatus()

Method Summary

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

topBufferRem

public int topBufferRem

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.

topBufferCnt

public int topBufferCnt

The number of points in the top trajectory buffer.

btmBufferCnt

public int btmBufferCnt

The number of points in the low level Talon/Victor buffer.

hasUnderrun

public boolean hasUnderrun

Set if isUnderrun ever gets set. Only is cleared by clearMotionProfileHasUnderrun() to ensure robot logic can react or instrument it.

See Also:

BaseMotorController.clearMotionProfileHasUnderrun(int)

isUnderrun

public boolean isUnderrun

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.

activePointValid

public boolean activePointValid

True if the active trajectory point is not empty, false otherwise. The members in activePoint are only valid if this signal is set.

isLast

public boolean isLast

True if the active trajectory point is the last point of the profile

profileSlotSelect

public int profileSlotSelect

The selected PID[0] profile slot of current profile

outputEnable

public SetValueMotionProfile outputEnable

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.

timeDurMs

public int timeDurMs

The duration in ms of current trajectory point

profileSlotSelect1

public int profileSlotSelect1

The selected auxiliary PID[1] profile slot of current profile

Constructor Details

MotionProfileStatus

public MotionProfileStatus()