yams::mechanisms::config::ArmConfig Class Reference

#include <ArmConfig.hpp>

Public Member Functions
	ArmConfig ()=default
ArmConfig &	WithTelemetryName (const std::string &name)
ArmConfig &	WithMinAngle (wpi::units::degree_t angle)
ArmConfig &	WithMaxAngle (wpi::units::degree_t angle)
ArmConfig &	WithArmLength (wpi::units::meter_t length)
ArmConfig &	WithSimColor (const wpi::util::Color8Bit &color)
ArmConfig &	WithMechanismPositionConfig (const MechanismPositionConfig &mechanismPositionConfig)
std::string	GetTelemetryName () const
std::optional< wpi::units::degree_t >	GetMinAngle () const
std::optional< wpi::units::degree_t >	GetMaxAngle () const
std::optional< wpi::units::meter_t >	GetArmLength () const
wpi::util::Color8Bit	GetSimColor () const
const MechanismPositionConfig &	GetMechanismPositionConfig () const

Detailed Description

Configuration class for an Arm mechanism.

Uses a fluent builder pattern; all With* methods return *this for chaining.

Constructor & Destructor Documentation

ArmConfig()

yams::mechanisms::config::ArmConfig::ArmConfig ( )

default

Member Function Documentation

GetArmLength()

std::optional< wpi::units::meter_t > yams::mechanisms::config::ArmConfig::GetArmLength

(

)

const

Get the optional arm length.

GetMaxAngle()

std::optional< wpi::units::degree_t > yams::mechanisms::config::ArmConfig::GetMaxAngle

(

)

const

Get the optional maximum (upper hard-limit) angle.

GetMechanismPositionConfig()

const MechanismPositionConfig & yams::mechanisms::config::ArmConfig::GetMechanismPositionConfig ( ) const

inline

Get where the mechanism is on the robot.

GetMinAngle()

std::optional< wpi::units::degree_t > yams::mechanisms::config::ArmConfig::GetMinAngle

(

)

const

Get the optional minimum (lower hard-limit) angle.

GetSimColor()

wpi::util::Color8Bit yams::mechanisms::config::ArmConfig::GetSimColor

(

)

const

Get the Mechanism2d simulation colour.

GetTelemetryName()

std::string yams::mechanisms::config::ArmConfig::GetTelemetryName

(

)

const

Get the telemetry name.

WithArmLength()

ArmConfig & yams::mechanisms::config::ArmConfig::WithArmLength

(

wpi::units::meter_t

length

)

Set the physical arm length for MOI estimation and visualisation.

Parameters

length

Length of the arm.

Returns

*this for chaining.

WithMaxAngle()

ArmConfig & yams::mechanisms::config::ArmConfig::WithMaxAngle

(

wpi::units::degree_t

angle

)

Set the maximum (upper hard) angle for simulation and soft-limit purposes.

Parameters

angle

Maximum angle.

Returns

*this for chaining.

WithMechanismPositionConfig()

ArmConfig & yams::mechanisms::config::ArmConfig::WithMechanismPositionConfig ( const MechanismPositionConfig &  mechanismPositionConfig )

inline

Set where the mechanism is on the robot, for GetPose3d(): where it is mounted, how it is turned there, the plane it moves in, and the mechanism it is mounted on, if any.

Parameters

mechanismPositionConfig

The mechanism's position.

Returns

*this for chaining.

WithMinAngle()

ArmConfig & yams::mechanisms::config::ArmConfig::WithMinAngle

(

wpi::units::degree_t

angle

)

Set the minimum (lower hard) angle for simulation and soft-limit purposes.

Parameters

angle

Minimum angle.

Returns

*this for chaining.

WithSimColor()

ArmConfig & yams::mechanisms::config::ArmConfig::WithSimColor

(

const wpi::util::Color8Bit &

color

)

Set the Mechanism2d simulation colour for the arm ligament (default: aqua).

Parameters

color

Desired colour.

Returns

*this for chaining.

WithTelemetryName()

ArmConfig & yams::mechanisms::config::ArmConfig::WithTelemetryName

(

const std::string &

name

)

Set the NetworkTables / SmartDashboard name for telemetry.

Parameters

name	Telemetry name string.

Returns

*this for chaining.

---

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

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