Package com.ctre.phoenix.motion

Class MotionProfileStatus

java.lang.Object
com.ctre.phoenix.motion.MotionProfileStatus
public class MotionProfileStatus extends Object
Motion Profile Status This is simply a data transer object.

  • Field Details

    • topBufferRem

      public int 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.

    • topBufferCnt

      public int topBufferCnt
      The number of points in the top trajectory buffer.

    • btmBufferCnt

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

    • hasUnderrun

      public boolean hasUnderrun
      Set if isUnderrun ever gets set. Only is cleared by clearMotionProfileHasUnderrun() to ensure robot logic can react or instrument it.
      See Also:

    • isUnderrun

      public boolean 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.

    • activePointValid

      public boolean activePointValid
      True if the active trajectory point is not empty, false otherwise. The members in activePoint are only valid if this signal is set.

    • isLast

      public boolean isLast
      True if the active trajectory point is the last point of the profile

    • profileSlotSelect

      public int profileSlotSelect
      The selected PID[0] profile slot of current profile

    • outputEnable

      public SetValueMotionProfile 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.

    • timeDurMs

      public int timeDurMs
      The duration in ms of current trajectory point

    • profileSlotSelect1

      public int profileSlotSelect1
      The selected auxiliary PID[1] profile slot of current profile

  • Constructor Details