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CTRE Phoenix 6 C++ 23.10.0-alpha-8
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ctre::phoenix6::configs::MotionMagicConfigs Class Reference

Configs for Motion Magic®. More...

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

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

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

◆ Serialize()

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

◆ ToString()

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

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


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