Package com.ctre.phoenixpro.configs

Class MotionMagicConfigs

java.lang.Object

com.ctre.phoenixpro.configs.MotionMagicConfigs

All Implemented Interfaces:

ParentConfiguration, ISerializable

public class MotionMagicConfigs
extends Object
implements ParentConfiguration

Configs that directly affect motor-output.

Includes Motor Invert and various limit features.

Field Summary

Fields

Modifier and Type	Field	Description
double	MotionMagicAcceleration	This is the target acceleration Motion Magic® based control modes are allowed to use.
double	MotionMagicCruiseVelocity	This is the maximum velocity Motion Magic® based control modes are allowed to use.
double	MotionMagicJerk	This is the target jerk (acceleration derivative) Motion Magic® based control modes are allowed to use.

Constructor Summary

Constructors

Constructor	Description
MotionMagicConfigs()

Method Summary

Modifier and Type	Method	Description
StatusCode	deserialize(String string)
String	serialize()
String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

MotionMagicCruiseVelocity

public double MotionMagicCruiseVelocity

This is the maximum velocity Motion Magic® based control modes are allowed to use.

• Minimum Value: 0
• Maximum Value: 3.4e+38
• Default Value: 0
• Units: rps

MotionMagicAcceleration

public double MotionMagicAcceleration

This is the target acceleration Motion Magic® based control modes are allowed to use.

• Minimum Value: 0
• Maximum Value: 3.4e+38
• 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. 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: 3.4e+38
• Default Value: 0
• Units: rot per sec³

Constructor Details

MotionMagicConfigs

public MotionMagicConfigs()

Method Details

toString

public String toString()

Overrides:

toString in class Object

deserialize

public StatusCode deserialize(String string)

Specified by:

deserialize in interface ParentConfiguration

serialize

public String serialize()

Specified by:

serialize in interface ISerializable