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CANTalon::MotionProfileStatus Struct Reference

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...
 

Detailed Description

Motion Profile Status This is simply a data transer object.

Member Data Documentation

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.

See Also
clearMotionProfileHasUnderrun()
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

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 struct was generated from the following file: