yams::mechanisms::config::FlyWheelConfig Class Reference

#include <FlyWheelConfig.hpp>

Public Member Functions
	FlyWheelConfig ()=default
FlyWheelConfig &	WithTelemetryName (const std::string &name)
FlyWheelConfig &	WithRollerDiameter (wpi::units::meter_t diameter)
FlyWheelConfig &	WithSimColor (const wpi::util::Color8Bit &color)
FlyWheelConfig &	WithMechanismPositionConfig (const MechanismPositionConfig &mechanismPositionConfig)
std::string	GetTelemetryName () const
std::optional< wpi::units::meter_t >	GetRollerDiameter () const
wpi::util::Color8Bit	GetSimColor () const
const MechanismPositionConfig &	GetMechanismPositionConfig () const

Detailed Description

Configuration class for a FlyWheel (velocity) mechanism.

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

Constructor & Destructor Documentation

FlyWheelConfig()

yams::mechanisms::config::FlyWheelConfig::FlyWheelConfig ( )

default

Member Function Documentation

GetMechanismPositionConfig()

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

inline

Get where the mechanism is on the robot.

GetRollerDiameter()

std::optional< wpi::units::meter_t > yams::mechanisms::config::FlyWheelConfig::GetRollerDiameter

(

)

const

Get the optional roller diameter.

GetSimColor()

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

(

)

const

Get the Mechanism2d sim colour.

GetTelemetryName()

std::string yams::mechanisms::config::FlyWheelConfig::GetTelemetryName

(

)

const

Get the telemetry name.

WithMechanismPositionConfig()

FlyWheelConfig & yams::mechanisms::config::FlyWheelConfig::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.

WithRollerDiameter()

FlyWheelConfig & yams::mechanisms::config::FlyWheelConfig::WithRollerDiameter

(

wpi::units::meter_t

diameter

)

Set the roller/flywheel outer diameter.

Used to convert between angular and linear velocity for surface-speed setpoints and simulation.

Parameters

diameter

Outer diameter of the roller.

Returns

*this for chaining.

WithSimColor()

FlyWheelConfig & yams::mechanisms::config::FlyWheelConfig::WithSimColor

(

const wpi::util::Color8Bit &

color

)

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

WithTelemetryName()

FlyWheelConfig & yams::mechanisms::config::FlyWheelConfig::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/FlyWheelConfig.hpp