CTRE_Phoenix  5.19.4
com.ctre.phoenix.motion.MotionProfileStatus Class Reference

Public Attributes

int topBufferRem
int topBufferCnt
int btmBufferCnt
boolean hasUnderrun
boolean isUnderrun
boolean activePointValid
boolean isLast
int profileSlotSelect
SetValueMotionProfile outputEnable
int timeDurMs
int profileSlotSelect1

Detailed Description

Motion Profile Status This is simply a data transer object.

Member Data Documentation

◆ activePointValid

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.

◆ btmBufferCnt

int com.ctre.phoenix.motion.MotionProfileStatus.btmBufferCnt

The number of points in the low level Talon/Victor buffer.

◆ hasUnderrun

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.

See also

◆ isLast

boolean com.ctre.phoenix.motion.MotionProfileStatus.isLast

True if the active trajectory point is the last point of the profile

◆ isUnderrun

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.

◆ outputEnable

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.

◆ profileSlotSelect

int com.ctre.phoenix.motion.MotionProfileStatus.profileSlotSelect

The selected PID[0] profile slot of current profile

◆ profileSlotSelect1

int com.ctre.phoenix.motion.MotionProfileStatus.profileSlotSelect1

The selected auxiliary PID[1] profile slot of current profile

◆ timeDurMs

int com.ctre.phoenix.motion.MotionProfileStatus.timeDurMs

The duration in ms of current trajectory point

◆ topBufferCnt

int com.ctre.phoenix.motion.MotionProfileStatus.topBufferCnt

The number of points in the top trajectory buffer.

◆ topBufferRem

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.

The documentation for this class was generated from the following file: