CTRE Phoenix 6 C++ 23.10.0-alpha-8
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Configs for Motion Magic®. More...
#include <ctre/phoenix6/configs/Configs.hpp>
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... | |
Configs for Motion Magic®.
Includes Velocity, Acceleration, and Jerk parameters.
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inlineoverridevirtual |
Implements ctre::phoenix6::configs::ParentConfiguration.
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inlineoverridevirtual |
Implements ctre::phoenix6::ISerializable.
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inlineoverridevirtual |
Implements ctre::phoenix6::configs::ParentConfiguration.
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
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
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