TrajectoryPoint.h

#pragma once
#include <stdint.h>
namespace ctre {
    namespace phoenix {
        namespace motion {
            struct TrajectoryPoint {
                double position = 0;
                double velocity = 0;
                double arbFeedFwd = 0;
                double headingDeg = 0;
                double auxiliaryPos = 0;
                double auxiliaryVel = 0;
                double auxiliaryArbFeedFwd = 0;
 
                uint32_t profileSlotSelect0 = 0;
 
                uint32_t profileSlotSelect1 = 0;
                bool isLastPoint = false;
                bool zeroPos = false;
 
                int timeDur = 0;
 
                bool useAuxPID = false;
 
                TrajectoryPoint() {
                    /* initializers above */
                }
 
                TrajectoryPoint(double position, 
                                double velocity, 
                                double arbFeedFwd,
                                double auxiliaryPos, 
                                double auxiliaryVel, 
                                double auxiliaryArbFeedFwd, 
                                uint32_t profileSlotSelect0, 
                                uint32_t profileSlotSelect1,
                                bool isLastPoint,
                                bool zeroPos, 
                                uint32_t timeDur,
                                bool useAuxPID) {
 
                    this->position = position;
                    this->velocity = velocity;
                    this->arbFeedFwd = arbFeedFwd;
                    this->auxiliaryPos = auxiliaryPos;
                    this->auxiliaryVel = auxiliaryVel;
                    this->auxiliaryArbFeedFwd = auxiliaryArbFeedFwd;
                    this->profileSlotSelect0 = profileSlotSelect0;
                    this->profileSlotSelect1 = profileSlotSelect1;
                    this->isLastPoint = isLastPoint;
                    this->zeroPos = zeroPos;
                    this->timeDur = timeDur;
                    this->useAuxPID = useAuxPID;
                }
            };
        } // namespace motion
    } // namespace phoenix
} // namespace ctre