yams::mechanisms::config::PivotConfig Class Reference

#include <PivotConfig.hpp>

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

Detailed Description

Configuration class for a Pivot mechanism.

Pivots are similar to Arms but do not necessarily have a meaningful arm length they typically rotate a mechanism around a fixed axis. Uses a fluent builder pattern; all With* methods return *this for chaining.

Constructor & Destructor Documentation

PivotConfig()

yams::mechanisms::config::PivotConfig::PivotConfig ( )

default

Member Function Documentation

GetMaxAngle()

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

(

)

const

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

GetMechanismPositionConfig()

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

inline

Get where the mechanism is on the robot.

GetMinAngle()

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

(

)

const

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

GetSimColor()

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

(

)

const

Get the Mechanism2d simulation colour.

GetTelemetryName()

std::string yams::mechanisms::config::PivotConfig::GetTelemetryName

(

)

const

Get the telemetry name.

WithMaxAngle()

PivotConfig & yams::mechanisms::config::PivotConfig::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()

PivotConfig & yams::mechanisms::config::PivotConfig::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()

PivotConfig & yams::mechanisms::config::PivotConfig::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()

PivotConfig & yams::mechanisms::config::PivotConfig::WithSimColor

(

const wpi::util::Color8Bit &

color

)

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

Parameters

color

Desired colour.

Returns

*this for chaining.

WithTelemetryName()

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