yams::mechanisms::positional::Arm Class Reference

#include <Arm.hpp>

Inheritance diagram for yams::mechanisms::positional::Arm:

Collaboration diagram for yams::mechanisms::positional::Arm:

Public Member Functions
	Arm (config::ArmConfig *config, motorcontrollers::SmartMotorController *smc)
void	SimIterate () override
void	UpdateTelemetry () override
void	VisualizationUpdate () override
std::string	GetName () const override
wpi::cmd::Trigger	Max () override
wpi::cmd::Trigger	Min () override
wpi::cmd::CommandPtr	Run (wpi::units::degree_t angle)
wpi::cmd::CommandPtr	Run (std::function< wpi::units::degree_t()> angle)
wpi::cmd::CommandPtr	RunTo (wpi::units::degree_t angle, wpi::units::degree_t tolerance=wpi::units::degree_t{1.0})
wpi::cmd::CommandPtr	RunTo (std::function< wpi::units::degree_t()> angle, wpi::units::degree_t tolerance=wpi::units::degree_t{1.0})
wpi::units::degree_t	GetAngle () const
wpi::cmd::Trigger	Gte (wpi::units::degree_t angle)
wpi::cmd::Trigger	Lte (wpi::units::degree_t angle)
wpi::cmd::Trigger	Between (wpi::units::degree_t start, wpi::units::degree_t end)
wpi::cmd::Trigger	IsNear (wpi::units::degree_t angle, wpi::units::degree_t within=wpi::units::degree_t{1.0})
const config::ArmConfig &	GetConfig () const
wpi::math::Pose3d	GetPose3d () const override
void	SetAngle (wpi::units::degree_t angle)
Public Member Functions inherited from yams::mechanisms::positional::SmartPositionalMechanism
	SmartPositionalMechanism ()
virtual	~SmartPositionalMechanism ()=default
wpi::MechanismLigament2d *	GetMechanismLigament ()
wpi::MechanismRoot2d *	GetMechanismRoot ()
motorcontrollers::SmartMotorController *	GetMotor ()
Public Member Functions inherited from yams::mechanisms::SmartMechanism
	SmartMechanism ()
virtual	~SmartMechanism ()=default
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 ()

Additional Inherited Members
Protected Attributes inherited from yams::mechanisms::positional::SmartPositionalMechanism
wpi::MechanismRoot2d *	m_mechanismRoot {nullptr}
wpi::MechanismLigament2d *	m_mechanismLigament {nullptr}
Protected Attributes inherited from yams::mechanisms::SmartMechanism
wpi::cmd::SubsystemBase *	m_subsystem {nullptr}
motorcontrollers::SmartMotorController *	m_smc {nullptr}
std::optional< wpi::Mechanism2d >	m_mechanismWindow

Detailed Description

Smart mechanism implementation for a single-jointed arm.

Drives an arm joint using a SmartMotorController configured for mechanism-space (degree) closed-loop angular control.

Example usage (inside a subsystem constructor)

using namespace yams::motorcontrollers;
using namespace yams::motorcontrollers::remote;
using namespace yams::gearing;
using namespace yams::mechanisms::positional;
using Cfg = SmartMotorControllerConfig;
 
// Declare as subsystem members:
//   ctre::phoenix6::hardware::TalonFX m_talon{1};
//   std::optional<TalonFXWrapper>     m_smc;
//   ArmConfig                          m_armConfig;
//   std::optional<Arm>                 m_arm;
 
SmartMotorControllerConfig motorCfg;
motorCfg.WithSubsystem(this)
        .WithFeedback(4.0, 0.0, 0.0)
        .WithTrapezoidProfile(wpi::units::turns_per_second_t{0.5},
                              wpi::units::turns_per_second_squared_t{0.25})
        .WithMotorGearing(MechanismGearing{GearBox::FromReductionStages({3.0, 4.0})})
        .WithZeroPower(Cfg::MotorMode::BRAKE)
        .WithStatorCurrentLimit(40.0_A)
        .WithMotorInverted(false)
        .WithFeedforward(wpi::math::ArmFeedforward{
            0.0_V, 0.0_V, wpi::units::unit_t<wpi::math::ArmFeedforward::kv_unit>{0.0},
            wpi::units::unit_t<wpi::math::ArmFeedforward::ka_unit>{0.0}})
        .WithClosedLoopMode()
        .WithTelemetry("ArmMotor", Cfg::TelemetryVerbosity::HIGH);
 
m_smc.emplace(m_talon, wpi::math::DCMotor::KrakenX60(1), motorCfg);
 
m_armConfig.WithMinAngle(-100.0_deg)
           .WithMaxAngle(200.0_deg)
           .WithArmLength(0.135_m)
           .WithTelemetryName("ArmExample");
 
m_arm.emplace(&m_armConfig, &m_smc.value());
 
// In commands or bindings:
m_arm->RunTo(45.0_deg);

Constructor & Destructor Documentation

Arm()

yams::mechanisms::positional::Arm::Arm	(	config::ArmConfig *	config,
		motorcontrollers::SmartMotorController *	smc
	)

Construct an Arm from an ArmConfig pointer and a SmartMotorController pointer.

Parameters

config	Pointer to the arm configuration (must outlive this Arm).
smc	Pointer to the motor controller (must outlive this Arm).

Member Function Documentation

Between()

wpi::cmd::Trigger yams::mechanisms::positional::Arm::Between	(	wpi::units::degree_t	start,
		wpi::units::degree_t	end
	)

Trigger that fires while the arm angle is between start and end (inclusive).

Parameters

start	Lower bound.
end	Upper bound.

Returns

Trigger for the range condition.

GetAngle()

wpi::units::degree_t yams::mechanisms::positional::Arm::GetAngle

(

)

const

Get the current joint angle from the motor encoder.

Returns

Current mechanism angle in degrees.

GetConfig()

const config::ArmConfig & yams::mechanisms::positional::Arm::GetConfig

(

)

const

Get the configuration used to construct this arm.

Returns

Const reference to the ArmConfig.

GetName()

std::string yams::mechanisms::positional::Arm::GetName ( ) const

overridevirtual

Get the human-readable name of this arm.

Implements yams::mechanisms::SmartMechanism.

GetPose3d()

wpi::math::Pose3d yams::mechanisms::positional::Arm::GetPose3d ( ) const

overridevirtual

Get the arm's pose, for publishing to AdvantageScope as a component of a robot model: where it is mounted, as set in its MechanismPositionConfig, turned to the arm's angle about the axis normal to its movement plane.

Returns

The pose of the arm, relative to the robot.

Implements yams::mechanisms::SmartMechanism.

Gte()

wpi::cmd::Trigger yams::mechanisms::positional::Arm::Gte

(

wpi::units::degree_t

angle

)

Trigger that fires while the arm angle is >= the given angle.

Parameters

angle

Reference angle.

Returns

Trigger for the >= condition.

IsNear()

wpi::cmd::Trigger yams::mechanisms::positional::Arm::IsNear	(	wpi::units::degree_t	angle,
		wpi::units::degree_t	within = wpi::units::degree_t{1.0}
	)

Trigger that fires while the arm is within tolerance of an angle.

Parameters

angle	Reference angle.
within	Tolerance.

Returns

Trigger for the near condition.

Lte()

wpi::cmd::Trigger yams::mechanisms::positional::Arm::Lte

(

wpi::units::degree_t

angle

)

Trigger that fires while the arm angle is <= the given angle.

Parameters

angle

Reference angle.

Returns

Trigger for the <= condition.

Max()

wpi::cmd::Trigger yams::mechanisms::positional::Arm::Max ( )

overridevirtual

Trigger that becomes true when the arm is at or past its maximum configured angle.

Returns

Trigger for the upper angular hard limit.

Implements yams::mechanisms::positional::SmartPositionalMechanism.

Min()

wpi::cmd::Trigger yams::mechanisms::positional::Arm::Min ( )

overridevirtual

Trigger that becomes true when the arm is at or past its minimum configured angle.

Returns

Trigger for the lower angular hard limit.

Implements yams::mechanisms::positional::SmartPositionalMechanism.

Run() [1/2]

wpi::cmd::CommandPtr yams::mechanisms::positional::Arm::Run

(

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

angle

)

Set the arm to the given angle via a supplier.

Parameters

angle

Supplier returning the desired arm angle each loop.

Returns

CommandPtr that requires the configured subsystem.

Run() [2/2]

wpi::cmd::CommandPtr yams::mechanisms::positional::Arm::Run

(

wpi::units::degree_t

angle

)

Set the arm to the given angle.

Parameters

angle

Arm angle to go to.

Returns

CommandPtr that requires the configured subsystem.

RunTo() [1/2]

wpi::cmd::CommandPtr yams::mechanisms::positional::Arm::RunTo	(	std::function< wpi::units::degree_t()>	angle,
		wpi::units::degree_t	tolerance = wpi::units::degree_t{1.0}
	)

Command the arm to an angle from a supplier, then end when within tolerance.

The supplier is evaluated once when the command is created.

Parameters

angle	Supplier for the target angle.
tolerance	Acceptable error.

Returns

CommandPtr that ends once the arm is near the target.

RunTo() [2/2]

wpi::cmd::CommandPtr yams::mechanisms::positional::Arm::RunTo	(	wpi::units::degree_t	angle,
		wpi::units::degree_t	tolerance = wpi::units::degree_t{1.0}
	)

Command the arm to a fixed angle, then end when within tolerance.

Parameters

angle	Target joint angle.
tolerance	Acceptable error.

Returns

CommandPtr that ends once the arm is near the target.

SetAngle()

void yams::mechanisms::positional::Arm::SetAngle

(

wpi::units::degree_t

angle

)

Directly command the arm to an angle setpoint (non-command, for use in periodic).

Parameters

angle

Desired joint angle.

SimIterate()

void yams::mechanisms::positional::Arm::SimIterate ( )

overridevirtual

Advance the arm's simulation by one loop iteration.

Implements yams::mechanisms::SmartMechanism.

UpdateTelemetry()

void yams::mechanisms::positional::Arm::UpdateTelemetry ( )

overridevirtual

Publish arm telemetry to NetworkTables / SmartDashboard.

Implements yams::mechanisms::SmartMechanism.

VisualizationUpdate()

void yams::mechanisms::positional::Arm::VisualizationUpdate ( )

overridevirtual

Update the Mechanism2d ligament to reflect the current angle.

Implements yams::mechanisms::SmartMechanism.

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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/positional/Arm.hpp