ctre::phoenix6::configs::MotionMagicConfigs Class Reference

Configs for Motion Magic®. More...

#include <ctre/phoenix6/configs/Configs.hpp>

Inheritance diagram for ctre::phoenix6::configs::MotionMagicConfigs:

Public Member Functions
std::string	ToString () const override
std::string	Serialize () const override
ctre::phoenix::StatusCode	Deserialize (const std::string &to_deserialize) override
virtual std::string	ToString () const =0
virtual ctre::phoenix::StatusCode	Deserialize (const std::string &string)=0
virtual std::string	Serialize () const =0

Public Attributes
double	MotionMagicCruiseVelocity = 0
	This is the maximum velocity Motion Magic® based control modes are allowed to use. More...
double	MotionMagicAcceleration = 0
	This is the target acceleration Motion Magic® based control modes are allowed to use. More...
double	MotionMagicJerk = 0
	This is the target jerk (acceleration derivative) Motion Magic® based control modes are allowed to use. More...

Detailed Description

Configs for Motion Magic®.

Includes Velocity, Acceleration, and Jerk parameters.

Member Function Documentation

Deserialize()

ctre::phoenix::StatusCode ctre::phoenix6::configs::MotionMagicConfigs::Deserialize ( const std::string &  to_deserialize )

inlineoverridevirtual

Implements ctre::phoenix6::configs::ParentConfiguration.

Serialize()

std::string ctre::phoenix6::configs::MotionMagicConfigs::Serialize ( ) const

inlineoverridevirtual

Implements ctre::phoenix6::ISerializable.

ToString()

std::string ctre::phoenix6::configs::MotionMagicConfigs::ToString ( ) const

inlineoverridevirtual

Implements ctre::phoenix6::configs::ParentConfiguration.

Member Data Documentation

MotionMagicAcceleration

double ctre::phoenix6::configs::MotionMagicConfigs::MotionMagicAcceleration = 0

This is the target acceleration Motion Magic® based control modes are allowed to use.

Minimum Value: 0 Maximum Value: 9999 Default Value: 0 Units: rot per sec²

MotionMagicCruiseVelocity

double ctre::phoenix6::configs::MotionMagicConfigs::MotionMagicCruiseVelocity = 0

This is the maximum velocity Motion Magic® based control modes are allowed to use.

Minimum Value: 0 Maximum Value: 9999 Default Value: 0 Units: rps

MotionMagicJerk

double ctre::phoenix6::configs::MotionMagicConfigs::MotionMagicJerk = 0

This is the target jerk (acceleration derivative) Motion Magic® based control modes are allowed to use.

This allows Motion Magic® support of S-Curves. If this is set to zero, then Motion Magic® will not apply a Jerk limit.

Minimum Value: 0 Maximum Value: 9999 Default Value: 0 Units: rot per sec³

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

• ctre/phoenix6/configs/Configs.hpp