Package com.ctre.phoenix6.configs

Class MotionMagicConfigs

java.lang.Object
com.ctre.phoenix6.configs.MotionMagicConfigs
All Implemented Interfaces:
ParentConfiguration, ISerializable, Cloneable
public class MotionMagicConfigs extends Object implements ParentConfiguration, Cloneable
Configs for Motion Magic®.

Includes Velocity, Acceleration, Jerk, and Expo parameters.

  • Field Details

    • MotionMagicCruiseVelocity

      public double 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

    • 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® 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

    • MotionMagicExpo_kV

      public double 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

    • MotionMagicExpo_kA

      public double 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

  • Constructor Details

  • Method Details

    • withMotionMagicCruiseVelocity

      public final MotionMagicConfigs withMotionMagicCruiseVelocity(double 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

    • withMotionMagicCruiseVelocity

      public final 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

    • getMotionMagicCruiseVelocityMeasure

      public final AngularVelocity 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

    • withMotionMagicAcceleration

      public final MotionMagicConfigs withMotionMagicAcceleration(double 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

    • withMotionMagicAcceleration

      public final 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

    • getMotionMagicAccelerationMeasure

      public final AngularAcceleration 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

    • withMotionMagicJerk

      public final MotionMagicConfigs withMotionMagicJerk(double newMotionMagicJerk)
      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

    • withMotionMagicJerk

      public final MotionMagicConfigs withMotionMagicJerk(Velocity<AngularAccelerationUnit> newMotionMagicJerk)
      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

    • getMotionMagicJerkMeasure

      public final Velocity<AngularAccelerationUnit> 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

    • withMotionMagicExpo_kV

      public final 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.

      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

    • withMotionMagicExpo_kV

      public final 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

    • getMotionMagicExpo_kVMeasure

      public final Per<VoltageUnit,AngularVelocityUnit> 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

    • withMotionMagicExpo_kA

      public final 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.

      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

    • withMotionMagicExpo_kA

      public final 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

    • getMotionMagicExpo_kAMeasure

      public final Per<VoltageUnit,AngularAccelerationUnit> 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

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • serialize

      public final String serialize()
      Get the serialized form of this configuration group.
      Specified by:
      serialize in interface ISerializable
      Returns:
      Serialized form of this config group

    • deserialize

      public final StatusCode deserialize(String to_deserialize)
      Take a string and deserialize it to this configuration group.
      Specified by:
      deserialize in interface ParentConfiguration
      Returns:
      Return code of the deserialize method

    • clone

      public MotionMagicConfigs clone()
      Overrides:
      clone in class Object