CTRE_Phoenix 5.20.2
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Public Attributes | |
int | topBufferRem |
int | topBufferCnt |
int | btmBufferCnt |
boolean | hasUnderrun |
boolean | isUnderrun |
boolean | activePointValid |
boolean | isLast |
int | profileSlotSelect |
SetValueMotionProfile | outputEnable |
int | timeDurMs |
int | profileSlotSelect1 |
Motion Profile Status This is simply a data transer object.
boolean com.ctre.phoenix.motion.MotionProfileStatus.activePointValid |
True if the active trajectory point is not empty, false otherwise. The members in activePoint are only valid if this signal is set.
int com.ctre.phoenix.motion.MotionProfileStatus.btmBufferCnt |
The number of points in the low level Talon/Victor buffer.
boolean com.ctre.phoenix.motion.MotionProfileStatus.hasUnderrun |
Set if isUnderrun ever gets set. Only is cleared by clearMotionProfileHasUnderrun() to ensure robot logic can react or instrument it.
boolean com.ctre.phoenix.motion.MotionProfileStatus.isLast |
True if the active trajectory point is the last point of the profile
boolean com.ctre.phoenix.motion.MotionProfileStatus.isUnderrun |
This is set if Talon/Victor needs to shift a point from its buffer into the active trajectory point however the buffer is empty. This gets cleared automatically when is resolved.
SetValueMotionProfile com.ctre.phoenix.motion.MotionProfileStatus.outputEnable |
The current output mode of the motion profile executer (disabled, enabled, or hold). When changing the set() value in MP mode, it's important to check this signal to confirm the change takes effect before interacting with the top buffer.
int com.ctre.phoenix.motion.MotionProfileStatus.profileSlotSelect |
The selected PID[0] profile slot of current profile
int com.ctre.phoenix.motion.MotionProfileStatus.profileSlotSelect1 |
The selected auxiliary PID[1] profile slot of current profile
int com.ctre.phoenix.motion.MotionProfileStatus.timeDurMs |
The duration in ms of current trajectory point
int com.ctre.phoenix.motion.MotionProfileStatus.topBufferCnt |
The number of points in the top trajectory buffer.
int com.ctre.phoenix.motion.MotionProfileStatus.topBufferRem |
The available empty slots in the trajectory buffer.
The robot API holds a "top buffer" of trajectory points, so your applicaion can dump several points at once. The API will then stream them into the Talon's low-level buffer, allowing the Talon to act on them.