Class MotionMagicConfigs
- All Implemented Interfaces:
ParentConfiguration
,ISerializable
Includes Velocity, Acceleration, Jerk, and Expo parameters.
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Field Summary
FieldsModifier and TypeFieldDescriptiondouble
This is the target acceleration Motion Magic® based control modes are allowed to use.double
This is the maximum velocity Motion Magic® based control modes are allowed to use.double
This is the target kA used only by Motion Magic® Expo control modes.double
This is the target kV used only by Motion Magic® Expo control modes.double
This is the target jerk (acceleration derivative) Motion Magic® based control modes are allowed to use. -
Constructor Summary
Constructors -
Method Summary
Modifier and TypeMethodDescriptiondeserialize
(String to_deserialize) Helper method to get this configuration's MotionMagicAcceleration parameter converted to a unit type.Helper method to get this configuration's MotionMagicCruiseVelocity parameter converted to a unit type.Helper method to get this configuration's MotionMagicExpo_kA parameter converted to a unit type.Helper method to get this configuration's MotionMagicExpo_kV parameter converted to a unit type.Helper method to get this configuration's MotionMagicJerk parameter converted to a unit type.toString()
withMotionMagicAcceleration
(double newMotionMagicAcceleration) Modifies this configuration's MotionMagicAcceleration parameter and returns itself for method-chaining and easier to use config API.withMotionMagicAcceleration
(AngularAcceleration newMotionMagicAcceleration) Modifies this configuration's MotionMagicAcceleration parameter and returns itself for method-chaining and easier to use config API.withMotionMagicCruiseVelocity
(double newMotionMagicCruiseVelocity) Modifies this configuration's MotionMagicCruiseVelocity parameter and returns itself for method-chaining and easier to use config API.withMotionMagicCruiseVelocity
(AngularVelocity newMotionMagicCruiseVelocity) Modifies this configuration's MotionMagicCruiseVelocity parameter and returns itself for method-chaining and easier to use config API.withMotionMagicExpo_kA
(double newMotionMagicExpo_kA) Modifies this configuration's MotionMagicExpo_kA parameter and returns itself for method-chaining and easier to use config API.withMotionMagicExpo_kA
(Per<VoltageUnit, AngularAccelerationUnit> newMotionMagicExpo_kA) Modifies this configuration's MotionMagicExpo_kA parameter and returns itself for method-chaining and easier to use config API.withMotionMagicExpo_kV
(double newMotionMagicExpo_kV) Modifies this configuration's MotionMagicExpo_kV parameter and returns itself for method-chaining and easier to use config API.withMotionMagicExpo_kV
(Per<VoltageUnit, AngularVelocityUnit> newMotionMagicExpo_kV) Modifies this configuration's MotionMagicExpo_kV parameter and returns itself for method-chaining and easier to use config API.withMotionMagicJerk
(double newMotionMagicJerk) Modifies this configuration's MotionMagicJerk parameter and returns itself for method-chaining and easier to use config API.withMotionMagicJerk
(Velocity<AngularAccelerationUnit> newMotionMagicJerk) Modifies this configuration's MotionMagicJerk parameter and returns itself for method-chaining and easier to use config API.
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Field Details
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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: rot per sec
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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
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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® to generate S-Curve profiles.Jerk is optional; 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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MotionMagicExpo_kV
This is the target kV used only by Motion Magic® Expo control modes. Unlike the kV slot gain, this is always 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.
- Minimum Value: 0.001
- Maximum Value: 100
- Default Value: 0.12
- Units: V/rps
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MotionMagicExpo_kA
This is the target kA used only by Motion Magic® Expo control modes. Unlike the kA slot gain, this is always 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.
- Minimum Value: 1e-05
- Maximum Value: 100
- Default Value: 0.1
- Units: V/rps²
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Constructor Details
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MotionMagicConfigs
public MotionMagicConfigs()
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Method Details
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withMotionMagicCruiseVelocity
Modifies this configuration's MotionMagicCruiseVelocity parameter and returns itself for method-chaining and easier to use config API.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: rot per sec
- Parameters:
newMotionMagicCruiseVelocity
- Parameter to modify- Returns:
- Itself
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withMotionMagicCruiseVelocity
public MotionMagicConfigs withMotionMagicCruiseVelocity(AngularVelocity newMotionMagicCruiseVelocity) Modifies this configuration's MotionMagicCruiseVelocity parameter and returns itself for method-chaining and easier to use config API.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: rot per sec
- Parameters:
newMotionMagicCruiseVelocity
- Parameter to modify- Returns:
- Itself
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getMotionMagicCruiseVelocityMeasure
Helper method to get this configuration's MotionMagicCruiseVelocity parameter converted to a unit type. If not using the Java units library,MotionMagicCruiseVelocity
can be accessed directly instead.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: rot per sec
- Returns:
- MotionMagicCruiseVelocity
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withMotionMagicAcceleration
Modifies this configuration's MotionMagicAcceleration parameter and returns itself for method-chaining and easier to use config API.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
- Parameters:
newMotionMagicAcceleration
- Parameter to modify- Returns:
- Itself
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withMotionMagicAcceleration
public MotionMagicConfigs withMotionMagicAcceleration(AngularAcceleration newMotionMagicAcceleration) Modifies this configuration's MotionMagicAcceleration parameter and returns itself for method-chaining and easier to use config API.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
- Parameters:
newMotionMagicAcceleration
- Parameter to modify- Returns:
- Itself
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getMotionMagicAccelerationMeasure
Helper method to get this configuration's MotionMagicAcceleration parameter converted to a unit type. If not using the Java units library,MotionMagicAcceleration
can be accessed directly instead.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
- Returns:
- MotionMagicAcceleration
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withMotionMagicJerk
Modifies this configuration's MotionMagicJerk parameter and returns itself for method-chaining and easier to use config API.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® to generate S-Curve profiles.
Jerk is optional; 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
- Parameters:
newMotionMagicJerk
- Parameter to modify- Returns:
- Itself
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withMotionMagicJerk
Modifies this configuration's MotionMagicJerk parameter and returns itself for method-chaining and easier to use config API.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® to generate S-Curve profiles.
Jerk is optional; 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
- Parameters:
newMotionMagicJerk
- Parameter to modify- Returns:
- Itself
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getMotionMagicJerkMeasure
Helper method to get this configuration's MotionMagicJerk parameter converted to a unit type. If not using the Java units library,MotionMagicJerk
can be accessed directly instead.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® to generate S-Curve profiles.
Jerk is optional; 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
- Returns:
- MotionMagicJerk
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withMotionMagicExpo_kV
Modifies this configuration's MotionMagicExpo_kV parameter and returns itself for method-chaining and easier to use config API.This is the target kV used only by Motion Magic® Expo control modes. Unlike the kV slot gain, this is always 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.
- Minimum Value: 0.001
- Maximum Value: 100
- Default Value: 0.12
- Units: V/rps
- Parameters:
newMotionMagicExpo_kV
- Parameter to modify- Returns:
- Itself
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withMotionMagicExpo_kV
public MotionMagicConfigs withMotionMagicExpo_kV(Per<VoltageUnit, AngularVelocityUnit> newMotionMagicExpo_kV) Modifies this configuration's MotionMagicExpo_kV parameter and returns itself for method-chaining and easier to use config API.This is the target kV used only by Motion Magic® Expo control modes. Unlike the kV slot gain, this is always 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.
- Minimum Value: 0.001
- Maximum Value: 100
- Default Value: 0.12
- Units: V/rps
- Parameters:
newMotionMagicExpo_kV
- Parameter to modify- Returns:
- Itself
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getMotionMagicExpo_kVMeasure
Helper method to get this configuration's MotionMagicExpo_kV parameter converted to a unit type. If not using the Java units library,MotionMagicExpo_kV
can be accessed directly instead.This is the target kV used only by Motion Magic® Expo control modes. Unlike the kV slot gain, this is always 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.
- Minimum Value: 0.001
- Maximum Value: 100
- Default Value: 0.12
- Units: V/rps
- Returns:
- MotionMagicExpo_kV
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withMotionMagicExpo_kA
Modifies this configuration's MotionMagicExpo_kA parameter and returns itself for method-chaining and easier to use config API.This is the target kA used only by Motion Magic® Expo control modes. Unlike the kA slot gain, this is always 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.
- Minimum Value: 1e-05
- Maximum Value: 100
- Default Value: 0.1
- Units: V/rps²
- Parameters:
newMotionMagicExpo_kA
- Parameter to modify- Returns:
- Itself
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withMotionMagicExpo_kA
public MotionMagicConfigs withMotionMagicExpo_kA(Per<VoltageUnit, AngularAccelerationUnit> newMotionMagicExpo_kA) Modifies this configuration's MotionMagicExpo_kA parameter and returns itself for method-chaining and easier to use config API.This is the target kA used only by Motion Magic® Expo control modes. Unlike the kA slot gain, this is always 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.
- Minimum Value: 1e-05
- Maximum Value: 100
- Default Value: 0.1
- Units: V/rps²
- Parameters:
newMotionMagicExpo_kA
- Parameter to modify- Returns:
- Itself
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getMotionMagicExpo_kAMeasure
Helper method to get this configuration's MotionMagicExpo_kA parameter converted to a unit type. If not using the Java units library,MotionMagicExpo_kA
can be accessed directly instead.This is the target kA used only by Motion Magic® Expo control modes. Unlike the kA slot gain, this is always 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.
- Minimum Value: 1e-05
- Maximum Value: 100
- Default Value: 0.1
- Units: V/rps²
- Returns:
- MotionMagicExpo_kA
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toString
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deserialize
- Specified by:
deserialize
in interfaceParentConfiguration
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serialize
- Specified by:
serialize
in interfaceISerializable
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