yams::mechanisms::SmartMechanism Class Reference

#include <SmartMechanism.hpp>

Inheritance diagram for yams::mechanisms::SmartMechanism:

Collaboration diagram for yams::mechanisms::SmartMechanism:

Public Member Functions
	SmartMechanism ()
virtual	~SmartMechanism ()=default
virtual void	SimIterate ()=0
virtual void	UpdateTelemetry ()=0
virtual void	VisualizationUpdate ()=0
virtual std::string	GetName () const =0
virtual wpi::math::Pose3d	GetPose3d () const =0
wpi::cmd::CommandPtr	Set (double dutycycle)
wpi::cmd::CommandPtr	Set (std::function< double()> dutycycle)
wpi::cmd::CommandPtr	SetVoltage (wpi::units::volt_t volts)
wpi::cmd::CommandPtr	SetVoltage (std::function< wpi::units::volt_t()> volts)
void	SetMechanismVelocitySetpoint (wpi::units::turns_per_second_t velocity)
void	SetMeasurementVelocitySetpoint (wpi::units::meters_per_second_t velocity)
void	SetMechanismPositionSetpoint (wpi::units::turn_t angle)
void	SetMeasurementPositionSetpoint (wpi::units::meter_t distance)
void	SetVoltageSetpoint (wpi::units::volt_t voltage)
void	SetDutyCycleSetpoint (double dutycycle)
motorcontrollers::SmartMotorController *	GetMotorController ()
std::optional< wpi::units::turn_t >	GetMechanismSetpoint ()
std::optional< wpi::units::meter_t >	GetMeasurementSetpoint ()
wpi::Mechanism2d *	GetMechanismWindow ()

Protected Attributes
wpi::cmd::SubsystemBase *	m_subsystem {nullptr}
motorcontrollers::SmartMotorController *	m_smc {nullptr}
std::optional< wpi::Mechanism2d >	m_mechanismWindow

Detailed Description

Abstract base class for all YAMS smart mechanisms.

Provides common open-loop command factories and setpoint helpers that delegate to the underlying SmartMotorController.

Constructor & Destructor Documentation

SmartMechanism()

yams::mechanisms::SmartMechanism::SmartMechanism ( )

inline

~SmartMechanism()

virtual yams::mechanisms::SmartMechanism::~SmartMechanism ( )

virtualdefault

Member Function Documentation

GetMeasurementSetpoint()

std::optional< wpi::units::meter_t > yams::mechanisms::SmartMechanism::GetMeasurementSetpoint

(

)

Get the current setpoint as a distance: the mechanism setpoint converted with the mechanism circumference.

Returns

Optional distance setpoint, empty when there is no position setpoint or the mechanism circumference is not configured.

GetMechanismSetpoint()

std::optional< wpi::units::turn_t > yams::mechanisms::SmartMechanism::GetMechanismSetpoint

(

)

Get the current mechanism angle setpoint if one has been set.

Returns

Optional angle setpoint.

GetMechanismWindow()

wpi::Mechanism2d * yams::mechanisms::SmartMechanism::GetMechanismWindow

(

)

Get a pointer to the Mechanism2d window, or nullptr if not initialised.

Returns

Pointer to the Mechanism2d window.

GetMotorController()

motorcontrollers::SmartMotorController * yams::mechanisms::SmartMechanism::GetMotorController

(

)

Get the underlying SmartMotorController.

GetName()

virtual std::string yams::mechanisms::SmartMechanism::GetName ( ) const

pure virtual

Get the human-readable name of this mechanism.

Implemented in yams::mechanisms::positional::Arm, yams::mechanisms::positional::Elevator, yams::mechanisms::positional::Pivot, and yams::mechanisms::velocity::FlyWheel.

GetPose3d()

virtual wpi::math::Pose3d yams::mechanisms::SmartMechanism::GetPose3d ( ) const

pure virtual

Get the mechanism's pose relative to the robot, worked out from its motor's position and where it is mounted, as set in its MechanismPositionConfig. Publish it as a component of an AdvantageScope robot model, whose part is modeled at the mechanism's zero position about its mount.

Implemented in yams::mechanisms::positional::Arm, yams::mechanisms::positional::Elevator, yams::mechanisms::positional::Pivot, and yams::mechanisms::velocity::FlyWheel.

Set() [1/2]

wpi::cmd::CommandPtr yams::mechanisms::SmartMechanism::Set

(

double

dutycycle

)

Run the motor at a fixed duty-cycle. Stops the closed-loop controller while the command is running and restarts it on finish.

Parameters

dutycycle

[-1, 1] duty cycle to apply.

Returns

CommandPtr that requires m_subsystem.

Set() [2/2]

wpi::cmd::CommandPtr yams::mechanisms::SmartMechanism::Set

(

std::function< double()>

dutycycle

)

Run the motor at a supplier-provided duty-cycle.

Parameters

dutycycle

Supplier returning a [-1, 1] value each loop.

Returns

CommandPtr that requires m_subsystem.

SetDutyCycleSetpoint()

void yams::mechanisms::SmartMechanism::SetDutyCycleSetpoint

(

double

dutycycle

)

Stop the closed-loop controller and apply a duty cycle immediately.

Parameters

dutycycle

[-1, 1] duty cycle.

SetMeasurementPositionSetpoint()

void yams::mechanisms::SmartMechanism::SetMeasurementPositionSetpoint

(

wpi::units::meter_t

distance

)

Start closed-loop control and set a linear measurement position setpoint.

SetMeasurementVelocitySetpoint()

void yams::mechanisms::SmartMechanism::SetMeasurementVelocitySetpoint

(

wpi::units::meters_per_second_t

velocity

)

Start closed-loop control and set a linear measurement velocity setpoint.

SetMechanismPositionSetpoint()

void yams::mechanisms::SmartMechanism::SetMechanismPositionSetpoint

(

wpi::units::turn_t

angle

)

Start closed-loop control and set a mechanism angle setpoint.

SetMechanismVelocitySetpoint()

void yams::mechanisms::SmartMechanism::SetMechanismVelocitySetpoint

(

wpi::units::turns_per_second_t

velocity

)

Start closed-loop control and set a mechanism angular velocity setpoint.

SetVoltage() [1/2]

wpi::cmd::CommandPtr yams::mechanisms::SmartMechanism::SetVoltage

(

std::function< wpi::units::volt_t()>

volts

)

Run the motor at a supplier-provided voltage.

Parameters

volts

Supplier returning a voltage each loop.

Returns

CommandPtr that requires m_subsystem.

SetVoltage() [2/2]

wpi::cmd::CommandPtr yams::mechanisms::SmartMechanism::SetVoltage

(

wpi::units::volt_t

volts

)

Run the motor at a fixed voltage.

Parameters

volts

Voltage to apply.

Returns

CommandPtr that requires m_subsystem.

SetVoltageSetpoint()

void yams::mechanisms::SmartMechanism::SetVoltageSetpoint

(

wpi::units::volt_t

voltage

)

Stop the closed-loop controller and apply a voltage immediately.

Parameters

voltage

Voltage to apply.

SimIterate()

virtual void yams::mechanisms::SmartMechanism::SimIterate ( )

pure virtual

Advance the mechanism's simulation by one loop iteration.

Implemented in yams::mechanisms::positional::Arm, yams::mechanisms::positional::Elevator, yams::mechanisms::positional::Pivot, and yams::mechanisms::velocity::FlyWheel.

UpdateTelemetry()

virtual void yams::mechanisms::SmartMechanism::UpdateTelemetry ( )

pure virtual

Publish telemetry to NetworkTables / SmartDashboard.

Implemented in yams::mechanisms::positional::Arm, yams::mechanisms::positional::Elevator, yams::mechanisms::positional::Pivot, and yams::mechanisms::velocity::FlyWheel.

VisualizationUpdate()

virtual void yams::mechanisms::SmartMechanism::VisualizationUpdate ( )

pure virtual

Update the Mechanism2d visualization state.

Implemented in yams::mechanisms::positional::Arm, yams::mechanisms::positional::Elevator, yams::mechanisms::positional::Pivot, and yams::mechanisms::velocity::FlyWheel.

Member Data Documentation

m_mechanismWindow

std::optional<wpi::Mechanism2d> yams::mechanisms::SmartMechanism::m_mechanismWindow

protected

Optional 2D visualisation window published to SmartDashboard.

m_smc

motorcontrollers::SmartMotorController* yams::mechanisms::SmartMechanism::m_smc {nullptr}

protected

Motor controller driving this mechanism.

m_subsystem

wpi::cmd::SubsystemBase* yams::mechanisms::SmartMechanism::m_subsystem {nullptr}

protected

Subsystem that this mechanism belongs to (provides command requirements).

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The documentation for this class was generated from the following file:

• /home/runner/work/YAMS/YAMS/yams/cpp/include/yams/mechanisms/SmartMechanism.hpp