yams::mechanisms::config::ElevatorConfig Class Reference

#include <ElevatorConfig.hpp>

Public Member Functions
	ElevatorConfig ()=default
ElevatorConfig &	WithTelemetryName (const std::string &name)
ElevatorConfig &	WithMinimumHeight (wpi::units::meter_t height)
ElevatorConfig &	WithMaximumHeight (wpi::units::meter_t height)
ElevatorConfig &	WithCarriageMass (wpi::units::kilogram_t mass)
ElevatorConfig &	WithIsHorizontal (bool horizontal)
ElevatorConfig &	WithSimColor (const wpi::util::Color8Bit &color)
ElevatorConfig &	WithAngle (wpi::units::degree_t angle)
template<typename... Heights> requires (std::convertible_to<Heights, wpi::units::meter_t> && ...)
ElevatorConfig &	WithStages (Heights... stageHeights)
ElevatorConfig &	WithStages (std::vector< wpi::units::meter_t > stageHeights)
ElevatorConfig &	WithMechanismPositionConfig (const MechanismPositionConfig &mechanismPositionConfig)
std::string	GetTelemetryName () const
std::optional< wpi::units::meter_t >	GetMinHeight () const
std::optional< wpi::units::meter_t >	GetMaxHeight () const
std::optional< wpi::units::kilogram_t >	GetCarriageMass () const
bool	IsHorizontal () const
wpi::util::Color8Bit	GetSimColor () const
wpi::units::degree_t	GetAngle () const
std::optional< int >	GetStages () const
const std::vector< wpi::units::meter_t > &	GetStageHeights () const
std::optional< wpi::units::meter_t >	GetStageHeightTotal () const
const MechanismPositionConfig &	GetMechanismPositionConfig () const

Detailed Description

Configuration class for an Elevator mechanism.

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

Constructor & Destructor Documentation

ElevatorConfig()

yams::mechanisms::config::ElevatorConfig::ElevatorConfig ( )

default

Member Function Documentation

GetAngle()

wpi::units::degree_t yams::mechanisms::config::ElevatorConfig::GetAngle

(

)

const

Get the Mechanism2d ligament angle (default: 90°).

GetCarriageMass()

std::optional< wpi::units::kilogram_t > yams::mechanisms::config::ElevatorConfig::GetCarriageMass

(

)

const

Get the optional carriage mass.

GetMaxHeight()

std::optional< wpi::units::meter_t > yams::mechanisms::config::ElevatorConfig::GetMaxHeight

(

)

const

Get the maximum height, or the stage heights' total without one.

GetMechanismPositionConfig()

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

inline

Get where the mechanism is on the robot.

GetMinHeight()

std::optional< wpi::units::meter_t > yams::mechanisms::config::ElevatorConfig::GetMinHeight

(

)

const

Get the minimum height, or 0 without one when the stages are set.

GetSimColor()

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

(

)

const

Get the Mechanism2d simulation colour.

GetStageHeights()

const std::vector< wpi::units::meter_t > & yams::mechanisms::config::ElevatorConfig::GetStageHeights

(

)

const

Get how far each moving stage travels relative to the stage below it, from the stage nearest the fixed stage to the carriage. Empty if WithStages() was not called.

GetStageHeightTotal()

std::optional< wpi::units::meter_t > yams::mechanisms::config::ElevatorConfig::GetStageHeightTotal

(

)

const

Get how far the stages travel together, the sum of the stage heights, if set.

GetStages()

std::optional< int > yams::mechanisms::config::ElevatorConfig::GetStages

(

)

const

Get the number of stages that move, counting the carriage as the last, if set.

GetTelemetryName()

std::string yams::mechanisms::config::ElevatorConfig::GetTelemetryName

(

)

const

Get the telemetry name.

IsHorizontal()

bool yams::mechanisms::config::ElevatorConfig::IsHorizontal

(

)

const

Returns true when the elevator is configured as horizontal (gravity disabled).

WithAngle()

ElevatorConfig & yams::mechanisms::config::ElevatorConfig::WithAngle

(

wpi::units::degree_t

angle

)

Set the angle of the elevator ligament in the Mechanism2d window (default: 90°/vertical).

Parameters

angle

Ligament angle.

Returns

*this for chaining.

WithCarriageMass()

ElevatorConfig & yams::mechanisms::config::ElevatorConfig::WithCarriageMass

(

wpi::units::kilogram_t

mass

)

Set the carriage mass (required for simulation).

Parameters

mass	Carriage mass in kg.

Returns

*this for chaining.

WithIsHorizontal()

ElevatorConfig & yams::mechanisms::config::ElevatorConfig::WithIsHorizontal

(

bool

horizontal

)

Mark the elevator as horizontal (disables gravity simulation).

Parameters

horizontal

True to treat the elevator as horizontal.

Returns

*this for chaining.

WithMaximumHeight()

ElevatorConfig & yams::mechanisms::config::ElevatorConfig::WithMaximumHeight

(

wpi::units::meter_t

height

)

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

Parameters

height

Maximum height.

Returns

*this for chaining.

WithMechanismPositionConfig()

ElevatorConfig & yams::mechanisms::config::ElevatorConfig::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.

WithMinimumHeight()

ElevatorConfig & yams::mechanisms::config::ElevatorConfig::WithMinimumHeight

(

wpi::units::meter_t

height

)

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

Parameters

height

Minimum height.

Returns

*this for chaining.

WithSimColor()

ElevatorConfig & yams::mechanisms::config::ElevatorConfig::WithSimColor

(

const wpi::util::Color8Bit &

color

)

Set the Mechanism2d simulation colour for the elevator ligament (default: orange).

Parameters

color

Desired colour.

Returns

*this for chaining.

WithStages() [1/2]

template<typename... Heights>
requires (std::convertible_to<Heights, wpi::units::meter_t> && ...)

ElevatorConfig & yams::mechanisms::config::ElevatorConfig::WithStages ( Heights...  stageHeights )

inline

Set the elevator's moving stages, for the pose of each stage from Elevator::GetCascadePose3d() or Elevator::GetContinuousPose3d(bool).

The stage heights must add up to the elevator's maximum height: the Elevator throws if they do not. Without a minimum and maximum height, the elevator's height is from 0 to the stage heights' total.

Parameters

stageHeights

How far each moving stage travels relative to the stage below it, from the stage nearest the fixed stage to the carriage, which is the last. One for each stage that moves, such as WithStages(0.6_m, 0.6_m, 0.5_m).

Returns

*this for chaining.

Exceptions

std::invalid_argument

if no height is given, or a height is not positive.

WithStages() [2/2]

ElevatorConfig & yams::mechanisms::config::ElevatorConfig::WithStages

(

std::vector< wpi::units::meter_t >

stageHeights

)

Set the elevator's moving stages from a list of stage heights. See WithStages(Heights...).

Parameters

stageHeights

How far each moving stage travels relative to the stage below it, from the stage nearest the fixed stage to the carriage.

Returns

*this for chaining.

Exceptions

std::invalid_argument

if no height is given, or a height is not positive.

WithTelemetryName()

ElevatorConfig & yams::mechanisms::config::ElevatorConfig::WithTelemetryName

(

const std::string &

name

)

Set the NetworkTables / SmartDashboard name for telemetry.

Parameters

name	Telemetry name string.

Returns

*this for chaining.

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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/config/ElevatorConfig.hpp