Configs for Motion Magic®. More...
#include <ctre/phoenix6/configs/Configs.hpp>
Public Member Functions | |
| MotionMagicConfigs & | WithMotionMagicCruiseVelocity (double newMotionMagicCruiseVelocity) |
| Modifies this configuration's MotionMagicCruiseVelocity parameter and returns itself for method-chaining and easier to use config API. More... | |
| MotionMagicConfigs & | WithMotionMagicAcceleration (double newMotionMagicAcceleration) |
| Modifies this configuration's MotionMagicAcceleration parameter and returns itself for method-chaining and easier to use config API. More... | |
| MotionMagicConfigs & | WithMotionMagicJerk (double newMotionMagicJerk) |
| Modifies this configuration's MotionMagicJerk parameter and returns itself for method-chaining and easier to use config API. More... | |
| MotionMagicConfigs & | WithMotionMagicExpo_kV (double newMotionMagicExpo_kV) |
| Modifies this configuration's MotionMagicExpo_kV parameter and returns itself for method-chaining and easier to use config API. More... | |
| MotionMagicConfigs & | WithMotionMagicExpo_kA (double newMotionMagicExpo_kA) |
| Modifies this configuration's MotionMagicExpo_kA parameter and returns itself for method-chaining and easier to use config API. More... | |
| 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... | |
| double | MotionMagicExpo_kV = 0 |
| This is the target kV used only by Motion Magic® Expo control modes, in units of V/rps. More... | |
| double | MotionMagicExpo_kA = 0 |
| This is the target kA used only by Motion Magic® Expo control modes, in units of V/rps². More... | |
Detailed Description
Configs for Motion Magic®.
Includes Velocity, Acceleration, Jerk, and Expo parameters.
Member Function Documentation
◆ Deserialize()
|
inlineoverridevirtual |
Implements ctre::phoenix6::configs::ParentConfiguration.
◆ Serialize()
|
inlineoverridevirtual |
Implements ctre::phoenix6::ISerializable.
◆ ToString()
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inlineoverridevirtual |
Implements ctre::phoenix6::configs::ParentConfiguration.
◆ WithMotionMagicAcceleration()
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inline |
Modifies this configuration's MotionMagicAcceleration parameter and returns itself for method-chaining and easier to use config API.
- Parameters
-
newMotionMagicAcceleration Parameter to modify
- Returns
- Itself
◆ WithMotionMagicCruiseVelocity()
|
inline |
Modifies this configuration's MotionMagicCruiseVelocity parameter and returns itself for method-chaining and easier to use config API.
- Parameters
-
newMotionMagicCruiseVelocity Parameter to modify
- Returns
- Itself
◆ WithMotionMagicExpo_kA()
|
inline |
Modifies this configuration's MotionMagicExpo_kA parameter and returns itself for method-chaining and easier to use config API.
- Parameters
-
newMotionMagicExpo_kA Parameter to modify
- Returns
- Itself
◆ WithMotionMagicExpo_kV()
|
inline |
Modifies this configuration's MotionMagicExpo_kV parameter and returns itself for method-chaining and easier to use config API.
- Parameters
-
newMotionMagicExpo_kV Parameter to modify
- Returns
- Itself
◆ WithMotionMagicJerk()
|
inline |
Modifies this configuration's MotionMagicJerk parameter and returns itself for method-chaining and easier to use config API.
- Parameters
-
newMotionMagicJerk Parameter to modify
- Returns
- Itself
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.
Motion Magic® Expo control modes do not use this config.
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.
Motion Magic® Velocity control modes do not use this config. When using Motion Magic® Expo control modes, setting this to 0 will allow the profile to run to the max possible velocity based on Expo_kV.
Minimum Value: 0 Maximum Value: 9999 Default Value: 0 Units: rps
◆ MotionMagicExpo_kA
| double ctre::phoenix6::configs::MotionMagicConfigs::MotionMagicExpo_kA = 0 |
This is the target kA used only by Motion Magic® Expo control modes, in units of V/rps².
This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration. A kA of 0 will be promoted to a reasonable default of 0.1.
Minimum Value: 1e-05 Maximum Value: 100 Default Value: 0 Units: V/rps²
◆ MotionMagicExpo_kV
| double ctre::phoenix6::configs::MotionMagicConfigs::MotionMagicExpo_kV = 0 |
This is the target kV used only by Motion Magic® Expo control modes, in units of V/rps.
This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity. A kV of 0 will be promoted to a reasonable default of 0.12.
Minimum Value: 0.001 Maximum Value: 100 Default Value: 0 Units: V/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.
Motion Magic® Expo control modes do not use this config. 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:
- ctre/phoenix6/configs/Configs.hpp
