Pheonix 6/Pro Motion Magic API setpoint

Technical Programming
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1

I’ve been looking at moving away from on-rio motion profiling and PID control. I’ve been looking at the Motion Magic API documentation, and there doesn’t seem to be a way to retrieve the internal setpoint that motion magic calculates, or a way to retrieve whether or not motion magic has completed running the profile.

Am I missing something? Or are these not values that Pheonix 6/Pro provides in the API?

Thanks!!

2

I believe this is what you’re looking for.

https://api.ctr-electronics.com/phoenix6/release/java/com/ctre/phoenix6/hardware/core/CoreTalonFX.html#getClosedLoopReference()

In Phoenix 5, this was called “GetActiveTrajectoryPosition”, but the migration guide says that this is what the signal is called now.