Hello all, my team has just begun to play around with Phoenix 6’s motion magic functionality for an elevator-based robot we are currently working on. As a result, we wore wondering what measurement the motor uses for its Motion Magic calculations, and Vel/accel/jerk limits? As in, does it use the rotor measurements, or the values returned by getPosition() and getVelocity()? the reason we are wondering this is because we configured the SensorToMechanismRatio to give us meters as opposed to raw rotations. Anyways, thank you in advance for your help!
As is also the case with onboard Position and Velocity closed-loop control, Motion Magic uses the mechanism position and velocity (i.e. the values returned by getPosition() and getVelocity()), not the rotor position and velocity. So the SensorToMechanism ratio does affect the values used for Motion Magic.
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Awesome! thanks for the help!
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