CTRE_Phoenix 5.20.2
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Public Attributes | |
double | position = 0 |
double | velocity = 0 |
double | arbFeedFwd = 0 |
double | headingDeg = 0 |
double | auxiliaryPos = 0 |
double | auxiliaryVel = 0 |
double | auxiliaryArbFeedFwd = 0 |
int | profileSlotSelect0 = 0 |
int | profileSlotSelect1 = 0 |
boolean | isLastPoint = false |
boolean | zeroPos = false |
int | timeDur = 0 |
boolean | useAuxPID = false |
Motion Profile Trajectory Point This is simply a data transfer object.
double com.ctre.phoenix.motion.TrajectoryPoint.arbFeedFwd = 0 |
Added to the output of PID[0], should be within [-1,+1] where 0.01 = 1%.
double com.ctre.phoenix.motion.TrajectoryPoint.auxiliaryArbFeedFwd = 0 |
Added to the output of PID[1], should be within [-1,+1] where 0.01 = 1%.
double com.ctre.phoenix.motion.TrajectoryPoint.auxiliaryPos = 0 |
The position for auxiliary PID[1] to target (in sensor units).
double com.ctre.phoenix.motion.TrajectoryPoint.auxiliaryVel = 0 |
The velocity for auxiliary PID[1] to target. (in sensor-units per 100ms).
double com.ctre.phoenix.motion.TrajectoryPoint.headingDeg = 0 |
Not used. Use auxiliaryPos instead.
boolean com.ctre.phoenix.motion.TrajectoryPoint.isLastPoint = false |
Set to true to signal Talon that this is the final point, so do not attempt to pop another trajectory point from out of the Talon buffer. Instead continue processing this way point. Typically the velocity member variable should be zero so that the motor doesn't spin indefinitely.
double com.ctre.phoenix.motion.TrajectoryPoint.position = 0 |
The position to servo to (in sensor units).
int com.ctre.phoenix.motion.TrajectoryPoint.profileSlotSelect0 = 0 |
Which slot to get PIDF gains. PID is used for position servo. F is used as the Kv constant for velocity feed-forward. Typically this is hard-coded to a particular slot, but you are free to gain schedule if need be. Choose from [0,3]
int com.ctre.phoenix.motion.TrajectoryPoint.profileSlotSelect1 = 0 |
Which slot to get PIDF gains for auxiliary PId. This only has impact during MotionProfileArc Control mode. Choose from [0,3].
int com.ctre.phoenix.motion.TrajectoryPoint.timeDur = 0 |
Duration (ms) to apply this trajectory pt. This time unit is ADDED to the existing base time set by ConfigMotionProfileTrajectoryPeriod().
boolean com.ctre.phoenix.motion.TrajectoryPoint.useAuxPID = false |
If using MotionProfileArc, this flag must be true on all points. If using MotionProfile, this flag must be false on all points.
double com.ctre.phoenix.motion.TrajectoryPoint.velocity = 0 |
The velocity to feed-forward (in sensor-units per 100ms).
boolean com.ctre.phoenix.motion.TrajectoryPoint.zeroPos = false |
Set to true to signal Talon to zero the selected sensor. When generating MPs, one simple method is to make the first target position zero, and the final target position the target distance from the current position. Then when you fire the MP, the current position gets set to zero. If this is the intent, you can set zeroPos on the first trajectory point.
Otherwise you can leave this false for all points, and offset the positions of all trajectory points so they are correct.
If using multiple sensor sources (Arc modes) we recommend you manually set sensor positions before arming MP, instead of using this feature.