Class MotionMagicConfigs

java.lang.Object
com.ctre.phoenix6.configs.MotionMagicConfigs
All Implemented Interfaces:
ParentConfiguration, ISerializable

public class MotionMagicConfigs
extends Object
implements ParentConfiguration
Configs for Motion Magic®.

Includes Velocity, Acceleration, Jerk, and Expo parameters.

  • Field Details

    • MotionMagicCruiseVelocity

      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
    • MotionMagicAcceleration

      public double MotionMagicAcceleration
      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
    • MotionMagicJerk

      public double MotionMagicJerk
      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
    • MotionMagicExpo_kV

      public double MotionMagicExpo_kV
      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
    • MotionMagicExpo_kA

      public double MotionMagicExpo_kA
      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
  • Constructor Details

  • Method Details