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Motion Magic (Duty Cycle)

Great for arms where cosine gravity and jerk-limited motion are desirable. Matches Ironclad's Arm pattern.

MotionMagicConfigs mm = new MotionMagicConfigs();
mm.MotionMagicCruiseVelocity = Gains.motionMagicCruiseVelocity;
mm.MotionMagicAcceleration  = Gains.motionMagicAcceleration;
mm.MotionMagicJerk          = Gains.motionMagicJerk;

fx.getConfigurator().apply(mm);

MotionMagicDutyCycle ctrl = new MotionMagicDutyCycle(0);
fx.setControl(ctrl.withPosition(targetPosition));

Pattern we use:

  • Keep a wantedPosition field and publish triggers like atWantedPosition() using MathUtil.isNear()
  • Seed the motor’s position to a CANCoder on boot if using a remote absolute sensor (see Remote Sensor)