WPILibC++
unspecified
|
Motion Profile Status This is simply a data transer object. More...
#include <CANTalon.h>
Public Attributes | |
unsigned int | topBufferRem |
The available empty slots in the trajectory buffer. More... | |
unsigned int | topBufferCnt |
The number of points in the top trajectory buffer. | |
unsigned int | btmBufferCnt |
The number of points in the low level Talon buffer. | |
bool | hasUnderrun |
Set if isUnderrun ever gets set. More... | |
bool | isUnderrun |
This is set if Talon needs to shift a point from its buffer into the active trajectory point however the buffer is empty. More... | |
bool | activePointValid |
True if the active trajectory point has not empty, false otherwise. More... | |
TrajectoryPoint | activePoint |
The number of points in the low level Talon buffer. | |
SetValueMotionProfile | outputEnable |
The current output mode of the motion profile executer (disabled, enabled, or hold). More... | |
Motion Profile Status This is simply a data transer object.
bool CANTalon::MotionProfileStatus::activePointValid |
True if the active trajectory point has not empty, false otherwise.
The members in activePoint are only valid if this signal is set.
bool CANTalon::MotionProfileStatus::hasUnderrun |
Set if isUnderrun ever gets set.
Only is cleared by clearMotionProfileHasUnderrun() to ensure robot logic can react or instrument it.
bool CANTalon::MotionProfileStatus::isUnderrun |
This is set if Talon 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 CANTalon::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.
unsigned int CANTalon::MotionProfileStatus::topBufferRem |