CANTalon MotionMagic control mode

[granjef3]

At worlds in 2016, the CTRE booth had a demo utilizing a new control mode called "Motion Magic" on the Talon SRX to control a robotic arm.

Some functions relating to this control mode are present within the docs for the 2017 CTRE FRC library docs, however details as to the exact function of this new control mode are absent from the Talon SRX Software Reference Manual.

Is the new Motion Magic mode present in the 2017 v2.20 Talon SRX firmware, and is there any documentation on how it works, the algorithm it uses, etc?

[abcurrie]

I just asked CTRE the same question and I am posting the response here for others:

"
There's a new manual version going out soon, but I can give you the basic information in the meantime.

Motion Magic is a new control mode for Talon SRX that provides the benefits of Motion Profiling without needing to generate the profile data. You use the MotionMagic control paramter when setting the Talon Control Mode.

The first step for Motion Magic is setting up your position PIDF values as normal (see the Soft. Ref. Manual). You then use two additional calls (setMotionMagicAcceleration(double) and setMotionMagicCruiseVelocity(double)) to set the desired acceleration and cruise velocity parameters.

Once this has been done, you can use set() calls as normal to set the position that Talon will move to, and the motion will follow a trapezoidal motion profile (as described in the motion profiling documentation).

That's it! It gives you flexibility to have all movements follow a trapezoidal motion profile without actually generating the profile points.

Let me know if you have any additional questions.

Regards,

Jacob Caporuscio
Software/Hardware Engineer
CTR Electronics
"