Package yams.motorcontrollers.local

Class NovaWrapper

java.lang.Object

yams.motorcontrollers.SmartMotorController

yams.motorcontrollers.local.NovaWrapper

public class NovaWrapper
extends yams.motorcontrollers.SmartMotorController

Nova wrapper for SmartMotorController

Nested Class Summary

Nested classes/interfaces inherited from class yams.motorcontrollers.SmartMotorController

yams.motorcontrollers.SmartMotorController.ClosedLoopControllerSlot

Field Summary

Fields inherited from class yams.motorcontrollers.SmartMotorController

m_closedLoopControllerThread, m_config, m_expoProfile, m_expoState, m_looseFollowers, m_lqr, m_pid, m_simSupplier, m_slot, m_trapezoidProfile, m_trapState, parentTable, setpointPosition, setpointVelocity, telemetry, telemetryConfig, telemetryTable, tuningTable

Constructor Summary

Constructors

Constructor	Description
NovaWrapper(com.thethriftybot.devices.ThriftyNova controller, DCMotor motor, yams.motorcontrollers.SmartMotorControllerConfig config)	Construct the Nova Wrapper for the generic SmartMotorController.

Method Summary

Modifier and Type	Method	Description
boolean	applyConfig(yams.motorcontrollers.SmartMotorControllerConfig config)
yams.motorcontrollers.SmartMotorControllerConfig	getConfig()
DCMotor	getDCMotor()
double	getDutyCycle()
Optional<Angle>	getExternalEncoderPosition()
Optional<AngularVelocity>	getExternalEncoderVelocity()
LinearAcceleration	getMeasurementAcceleration()
Distance	getMeasurementPosition()
LinearVelocity	getMeasurementVelocity()
AngularAcceleration	getMechanismAcceleration()
Angle	getMechanismPosition()
AngularVelocity	getMechanismVelocity()
Object	getMotorController()
Object	getMotorControllerConfig()
Angle	getRotorPosition()
AngularVelocity	getRotorVelocity()
Current	getStatorCurrent()
Optional<Current>	getSupplyCurrent()
Temperature	getTemperature()
Pair<Optional<List<yams.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField>>,Optional<List<yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField>>>	getUnsupportedTelemetryFields()
Voltage	getVoltage()
void	seedRelativeEncoder()
void	setClosedLoopRampRate(Time rampRate)
void	setClosedLoopSlot(yams.motorcontrollers.SmartMotorController.ClosedLoopControllerSlot slot)
void	setDutyCycle(double dutyCycle)
void	setEncoderInverted(boolean inverted)
void	setEncoderPosition(Angle angle)
void	setEncoderPosition(Distance distance)
void	setEncoderVelocity(AngularVelocity velocity)
void	setEncoderVelocity(LinearVelocity velocity)
void	setExponentialProfile(OptionalDouble kV, OptionalDouble kA, Optional<Voltage> maxInput)
void	setFeedback(double kP, double kI, double kD)
void	setFeedforward(double kS, double kV, double kA, double kG)
void	setIdleMode(yams.motorcontrollers.SmartMotorControllerConfig.MotorMode mode)
void	setKa(double kA)
void	setKd(double kD)
void	setKg(double kG)
void	setKi(double kI)
void	setKp(double kP)
void	setKs(double kS)
void	setKv(double kV)
void	setMeasurementLowerLimit(Distance lowerLimit)
void	setMeasurementUpperLimit(Distance upperLimit)
void	setMechanismCircumference(Distance circumference)
void	setMechanismGearing(yams.gearing.MechanismGearing gearing)
void	setMechanismLimits(Angle lower, Angle upper)
void	setMechanismLimitsEnabled(boolean enabled)
void	setMechanismLowerLimit(Angle lowerLimit)
void	setMechanismUpperLimit(Angle upperLimit)
void	setMotionProfileMaxAcceleration(AngularAcceleration maxAcceleration)
void	setMotionProfileMaxAcceleration(LinearAcceleration maxAcceleration)
void	setMotionProfileMaxJerk(Velocity<AngularAccelerationUnit> maxJerk)
void	setMotionProfileMaxVelocity(AngularVelocity maxVelocity)
void	setMotionProfileMaxVelocity(LinearVelocity maxVelocity)
void	setMotorInverted(boolean inverted)
void	setOpenLoopRampRate(Time rampRate)	Deprecated.
void	setPosition(Angle angle)
void	setPosition(Distance distance)
void	setStatorCurrentLimit(Current currentLimit)
void	setSupplyCurrentLimit(Current currentLimit)
void	setupSimulation()
void	setVelocity(AngularVelocity angularVelocity)
void	setVelocity(LinearVelocity velocity)
void	setVoltage(Voltage voltage)
void	simIterate()
void	synchronizeRelativeEncoder()

Methods inherited from class yams.motorcontrollers.SmartMotorController

checkConfigSafety, close, create, getClosedLoopControllerSlot, getExponentialProfileState, getMechanismPositionSetpoint, getMechanismSetpointVelocity, getName, getSimSupplier, getTrapezoidalProfileState, isMotor, iterateClosedLoopController, setSimSupplier, setupTelemetry, setupTelemetry, startClosedLoopController, stopClosedLoopController, toString, updateTelemetry

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Details

NovaWrapper

public NovaWrapper(com.thethriftybot.devices.ThriftyNova controller,
 DCMotor motor,
 yams.motorcontrollers.SmartMotorControllerConfig config)

Construct the Nova Wrapper for the generic SmartMotorController.

Parameters:

controller - ThriftyNova to use.

motor - DCMotor connected to the ThriftyNova.

config - SmartMotorControllerConfig to apply to the ThriftyNova.

Method Details

setupSimulation

public void setupSimulation()

Specified by:

setupSimulation in class yams.motorcontrollers.SmartMotorController

seedRelativeEncoder

public void seedRelativeEncoder()

Specified by:

seedRelativeEncoder in class yams.motorcontrollers.SmartMotorController

synchronizeRelativeEncoder

public void synchronizeRelativeEncoder()

Specified by:

synchronizeRelativeEncoder in class yams.motorcontrollers.SmartMotorController

simIterate

public void simIterate()

Specified by:

simIterate in class yams.motorcontrollers.SmartMotorController

setIdleMode

public void setIdleMode(yams.motorcontrollers.SmartMotorControllerConfig.MotorMode mode)

Specified by:

setIdleMode in class yams.motorcontrollers.SmartMotorController

setEncoderVelocity

public void setEncoderVelocity(AngularVelocity velocity)

Specified by:

setEncoderVelocity in class yams.motorcontrollers.SmartMotorController

setEncoderVelocity

public void setEncoderVelocity(LinearVelocity velocity)

Specified by:

setEncoderVelocity in class yams.motorcontrollers.SmartMotorController

setEncoderPosition

public void setEncoderPosition(Angle angle)

Specified by:

setEncoderPosition in class yams.motorcontrollers.SmartMotorController

setEncoderPosition

public void setEncoderPosition(Distance distance)

Specified by:

setEncoderPosition in class yams.motorcontrollers.SmartMotorController

setPosition

public void setPosition(Angle angle)

Specified by:

setPosition in class yams.motorcontrollers.SmartMotorController

setPosition

public void setPosition(Distance distance)

Specified by:

setPosition in class yams.motorcontrollers.SmartMotorController

setVelocity

public void setVelocity(LinearVelocity velocity)

Specified by:

setVelocity in class yams.motorcontrollers.SmartMotorController

setVelocity

public void setVelocity(AngularVelocity angularVelocity)

Specified by:

setVelocity in class yams.motorcontrollers.SmartMotorController

applyConfig

public boolean applyConfig(yams.motorcontrollers.SmartMotorControllerConfig config)

Specified by:

applyConfig in class yams.motorcontrollers.SmartMotorController

getDutyCycle

public double getDutyCycle()

Specified by:

getDutyCycle in class yams.motorcontrollers.SmartMotorController

setDutyCycle

public void setDutyCycle(double dutyCycle)

Specified by:

setDutyCycle in class yams.motorcontrollers.SmartMotorController

getSupplyCurrent

public Optional<Current> getSupplyCurrent()

Specified by:

getSupplyCurrent in class yams.motorcontrollers.SmartMotorController

getStatorCurrent

public Current getStatorCurrent()

Specified by:

getStatorCurrent in class yams.motorcontrollers.SmartMotorController

getVoltage

public Voltage getVoltage()

Specified by:

getVoltage in class yams.motorcontrollers.SmartMotorController

setVoltage

public void setVoltage(Voltage voltage)

Specified by:

setVoltage in class yams.motorcontrollers.SmartMotorController

getDCMotor

public DCMotor getDCMotor()

Specified by:

getDCMotor in class yams.motorcontrollers.SmartMotorController

getMeasurementVelocity

public LinearVelocity getMeasurementVelocity()

Specified by:

getMeasurementVelocity in class yams.motorcontrollers.SmartMotorController

getMeasurementPosition

public Distance getMeasurementPosition()

Specified by:

getMeasurementPosition in class yams.motorcontrollers.SmartMotorController

getMeasurementAcceleration

public LinearAcceleration getMeasurementAcceleration()

Specified by:

getMeasurementAcceleration in class yams.motorcontrollers.SmartMotorController

getMechanismVelocity

public AngularVelocity getMechanismVelocity()

Specified by:

getMechanismVelocity in class yams.motorcontrollers.SmartMotorController

getMechanismAcceleration

public AngularAcceleration getMechanismAcceleration()

Specified by:

getMechanismAcceleration in class yams.motorcontrollers.SmartMotorController

getMechanismPosition

public Angle getMechanismPosition()

Specified by:

getMechanismPosition in class yams.motorcontrollers.SmartMotorController

getRotorVelocity

public AngularVelocity getRotorVelocity()

Specified by:

getRotorVelocity in class yams.motorcontrollers.SmartMotorController

getRotorPosition

public Angle getRotorPosition()

Specified by:

getRotorPosition in class yams.motorcontrollers.SmartMotorController

getExternalEncoderPosition

public Optional<Angle> getExternalEncoderPosition()

Specified by:

getExternalEncoderPosition in class yams.motorcontrollers.SmartMotorController

getExternalEncoderVelocity

public Optional<AngularVelocity> getExternalEncoderVelocity()

Specified by:

getExternalEncoderVelocity in class yams.motorcontrollers.SmartMotorController

setMotorInverted

public void setMotorInverted(boolean inverted)

Specified by:

setMotorInverted in class yams.motorcontrollers.SmartMotorController

setEncoderInverted

public void setEncoderInverted(boolean inverted)

Specified by:

setEncoderInverted in class yams.motorcontrollers.SmartMotorController

setMotionProfileMaxVelocity

public void setMotionProfileMaxVelocity(LinearVelocity maxVelocity)

Specified by:

setMotionProfileMaxVelocity in class yams.motorcontrollers.SmartMotorController

setMotionProfileMaxAcceleration

public void setMotionProfileMaxAcceleration(LinearAcceleration maxAcceleration)

Specified by:

setMotionProfileMaxAcceleration in class yams.motorcontrollers.SmartMotorController

setMotionProfileMaxVelocity

public void setMotionProfileMaxVelocity(AngularVelocity maxVelocity)

Specified by:

setMotionProfileMaxVelocity in class yams.motorcontrollers.SmartMotorController

setMotionProfileMaxAcceleration

public void setMotionProfileMaxAcceleration(AngularAcceleration maxAcceleration)

Specified by:

setMotionProfileMaxAcceleration in class yams.motorcontrollers.SmartMotorController

setMotionProfileMaxJerk

public void setMotionProfileMaxJerk(Velocity<AngularAccelerationUnit> maxJerk)

Specified by:

setMotionProfileMaxJerk in class yams.motorcontrollers.SmartMotorController

setExponentialProfile

public void setExponentialProfile(OptionalDouble kV,
 OptionalDouble kA,
 Optional<Voltage> maxInput)

Specified by:

setExponentialProfile in class yams.motorcontrollers.SmartMotorController

setKp

public void setKp(double kP)

Specified by:

setKp in class yams.motorcontrollers.SmartMotorController

setKi

public void setKi(double kI)

Specified by:

setKi in class yams.motorcontrollers.SmartMotorController

setKd

public void setKd(double kD)

Specified by:

setKd in class yams.motorcontrollers.SmartMotorController

setFeedback

public void setFeedback(double kP,
 double kI,
 double kD)

Specified by:

setFeedback in class yams.motorcontrollers.SmartMotorController

setKs

public void setKs(double kS)

Specified by:

setKs in class yams.motorcontrollers.SmartMotorController

setKv

public void setKv(double kV)

Specified by:

setKv in class yams.motorcontrollers.SmartMotorController

setKa

public void setKa(double kA)

Specified by:

setKa in class yams.motorcontrollers.SmartMotorController

setKg

public void setKg(double kG)

Specified by:

setKg in class yams.motorcontrollers.SmartMotorController

setFeedforward

public void setFeedforward(double kS,
 double kV,
 double kA,
 double kG)

Specified by:

setFeedforward in class yams.motorcontrollers.SmartMotorController

setStatorCurrentLimit

public void setStatorCurrentLimit(Current currentLimit)

Specified by:

setStatorCurrentLimit in class yams.motorcontrollers.SmartMotorController

setSupplyCurrentLimit

public void setSupplyCurrentLimit(Current currentLimit)

Specified by:

setSupplyCurrentLimit in class yams.motorcontrollers.SmartMotorController

setClosedLoopRampRate

public void setClosedLoopRampRate(Time rampRate)

Specified by:

setClosedLoopRampRate in class yams.motorcontrollers.SmartMotorController

setOpenLoopRampRate

@Deprecated
public void setOpenLoopRampRate(Time rampRate)

Deprecated.

Specified by:

setOpenLoopRampRate in class yams.motorcontrollers.SmartMotorController

setMeasurementUpperLimit

public void setMeasurementUpperLimit(Distance upperLimit)

Specified by:

setMeasurementUpperLimit in class yams.motorcontrollers.SmartMotorController

setMeasurementLowerLimit

public void setMeasurementLowerLimit(Distance lowerLimit)

Specified by:

setMeasurementLowerLimit in class yams.motorcontrollers.SmartMotorController

setMechanismUpperLimit

public void setMechanismUpperLimit(Angle upperLimit)

Specified by:

setMechanismUpperLimit in class yams.motorcontrollers.SmartMotorController

setMechanismLowerLimit

public void setMechanismLowerLimit(Angle lowerLimit)

Specified by:

setMechanismLowerLimit in class yams.motorcontrollers.SmartMotorController

setMechanismLimits

public void setMechanismLimits(Angle lower,
 Angle upper)

Specified by:

setMechanismLimits in class yams.motorcontrollers.SmartMotorController

setMechanismLimitsEnabled

public void setMechanismLimitsEnabled(boolean enabled)

Specified by:

setMechanismLimitsEnabled in class yams.motorcontrollers.SmartMotorController

setClosedLoopSlot

public void setClosedLoopSlot(yams.motorcontrollers.SmartMotorController.ClosedLoopControllerSlot slot)

Specified by:

setClosedLoopSlot in class yams.motorcontrollers.SmartMotorController

getTemperature

public Temperature getTemperature()

Specified by:

getTemperature in class yams.motorcontrollers.SmartMotorController

getConfig

public yams.motorcontrollers.SmartMotorControllerConfig getConfig()

Specified by:

getConfig in class yams.motorcontrollers.SmartMotorController

getMotorController

public Object getMotorController()

Specified by:

getMotorController in class yams.motorcontrollers.SmartMotorController

getMotorControllerConfig

public Object getMotorControllerConfig()

Specified by:

getMotorControllerConfig in class yams.motorcontrollers.SmartMotorController

getUnsupportedTelemetryFields

public Pair<Optional<List<yams.telemetry.SmartMotorControllerTelemetry.BooleanTelemetryField>>,Optional<List<yams.telemetry.SmartMotorControllerTelemetry.DoubleTelemetryField>>> getUnsupportedTelemetryFields()

Specified by:

getUnsupportedTelemetryFields in class yams.motorcontrollers.SmartMotorController

setMechanismGearing

public void setMechanismGearing(yams.gearing.MechanismGearing gearing)

Specified by:

setMechanismGearing in class yams.motorcontrollers.SmartMotorController

setMechanismCircumference

public void setMechanismCircumference(Distance circumference)

Specified by:

setMechanismCircumference in class yams.motorcontrollers.SmartMotorController