yams::mechanisms::positional::Elevator Class Reference

#include <Elevator.hpp>

Inheritance diagram for yams::mechanisms::positional::Elevator:

Collaboration diagram for yams::mechanisms::positional::Elevator:

Public Member Functions
	Elevator (config::ElevatorConfig *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::meter_t height)
wpi::cmd::CommandPtr	Run (std::function< wpi::units::meter_t()> height)
wpi::cmd::CommandPtr	RunTo (wpi::units::meter_t height, wpi::units::meter_t tolerance=wpi::units::meter_t{0.01})
wpi::cmd::CommandPtr	RunTo (std::function< wpi::units::meter_t()> height, wpi::units::meter_t tolerance=wpi::units::meter_t{0.01})
wpi::units::meter_t	GetHeight () const
wpi::cmd::Trigger	Gte (wpi::units::meter_t height)
wpi::cmd::Trigger	Lte (wpi::units::meter_t height)
wpi::cmd::Trigger	Between (wpi::units::meter_t start, wpi::units::meter_t end)
wpi::cmd::Trigger	IsNear (wpi::units::meter_t height, wpi::units::meter_t within=wpi::units::meter_t{0.01})
const config::ElevatorConfig &	GetConfig () const
wpi::math::Pose3d	GetPose3d () const override
std::vector< wpi::math::Pose3d >	GetCascadePose3d () const
std::vector< wpi::math::Pose3d >	GetContinuousPose3d (bool carriageFirst) const
void	SetHeight (wpi::units::meter_t height)
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 linear elevator.

Drives a carriage along a linear axis using a SmartMotorController configured for measurement-space (meter) closed-loop control.

Example usage (inside a subsystem constructor)

using namespace yams::motorcontrollers;
using namespace yams::motorcontrollers::local;
using namespace yams::gearing;
using namespace yams::mechanisms::positional;
using Cfg = SmartMotorControllerConfig;
 
// Declare as subsystem members:
//   rev::spark::SparkMax          m_sparkMax{2,
rev::spark::SparkLowLevel::MotorType::kBrushless};
//   std::optional<SparkWrapper>   m_smc;
//   ElevatorConfig                 m_elevatorConfig;
//   std::optional<Elevator>        m_elevator;
 
SmartMotorControllerConfig motorCfg;
motorCfg.WithSubsystem(this)
        .WithFeedback(1.0, 0.0, 0.0)
        .WithMechanismCircumference(0.25_in, 22)
        .WithStartingPosition(0.5_m)
        .WithMotorGearing(MechanismGearing{GearBox::FromReductionStages({3.0, 4.0})})
        .WithMeasurementLimits(0.0_m, 2.0_m)
        .WithZeroPower(Cfg::MotorMode::BRAKE)
        .WithSupplyCurrentLimit(40.0_A)
        .WithMotorInverted(false)
        .WithFeedforward(wpi::math::ElevatorFeedforward{
            0.0_V, 0.0_V, wpi::units::unit_t<wpi::math::ElevatorFeedforward::kv_unit>{0.0},
            wpi::units::unit_t<wpi::math::ElevatorFeedforward::ka_unit>{0.0}})
        .WithClosedLoopMode()
        .WithTelemetry("ElevatorMotor", Cfg::TelemetryVerbosity::HIGH);
 
m_smc.emplace(&m_sparkMax, wpi::math::DCMotor::NEO(1), &motorCfg);
 
m_elevatorConfig.WithMinimumHeight(0.0_m)
                .WithMaximumHeight(3.0_m)
                .WithCarriageMass(2.0_lb)
                .WithTelemetryName("Elevator");
 
m_elevator.emplace(&m_elevatorConfig, &m_smc.value());
 
// In commands or bindings:
m_elevator->RunTo(1.2_m);

Constructor & Destructor Documentation

Elevator()

yams::mechanisms::positional::Elevator::Elevator	(	config::ElevatorConfig *	config,
		motorcontrollers::SmartMotorController *	smc
	)

Construct an Elevator from an ElevatorConfig and a SmartMotorController.

Parameters

config	Pointer to the elevator configuration (must outlive this Elevator).
smc	Pointer to the motor controller (must outlive this Elevator).

Member Function Documentation

Between()

wpi::cmd::Trigger yams::mechanisms::positional::Elevator::Between	(	wpi::units::meter_t	start,
		wpi::units::meter_t	end
	)

Trigger that fires while the elevator height is between start and end (inclusive).

Parameters

start	Lower bound.
end	Upper bound.

Returns

Trigger for the range condition.

GetCascadePose3d()

std::vector< wpi::math::Pose3d > yams::mechanisms::positional::Elevator::GetCascadePose3d

(

)

const

Get the pose of each moving stage of a cascade elevator, for publishing to AdvantageScope as components of a robot model. A cascade elevator's stages all move at once, each by its share of the carriage's height: a stage that travels a third of the elevator's total travel moves a third of the carriage's height relative to the stage below it.

The stages are set with ElevatorConfig::WithStages().

Returns

Each moving stage's pose, relative to the robot, from the stage nearest the fixed stage to the carriage. The last is the carriage, GetPose3d().

Exceptions

ElevatorConfigurationException

if the stages are not set, or there are fewer than 2.

GetConfig()

const config::ElevatorConfig & yams::mechanisms::positional::Elevator::GetConfig

(

)

const

Get the configuration used to construct this elevator.

Returns

Const reference to the ElevatorConfig.

GetContinuousPose3d()

std::vector< wpi::math::Pose3d > yams::mechanisms::positional::Elevator::GetContinuousPose3d

(

bool

carriageFirst

)

const

Get the pose of each moving stage of a continuous elevator, for publishing to AdvantageScope as components of a robot model. A continuous elevator's stages move one at a time. Which moves first depends on how it is rigged: watch it move to see which it is.

• Carriage first: the carriage rises the whole of its travel first, then the stage below it, and so on out to the stage nearest the fixed stage. Going down, the stage nearest the fixed stage lowers first.
• Carriage last: the stage nearest the fixed stage rises the whole of its travel first, then the next, and so on out to the carriage. Going down, the carriage lowers first.

The stages are set with ElevatorConfig::WithStages().

Parameters

carriageFirst

True if the carriage moves first, false if it moves last.

Returns

Each moving stage's pose, relative to the robot, from the stage nearest the fixed stage to the carriage. The last is the carriage, GetPose3d().

Exceptions

ElevatorConfigurationException

if the stages are not set, or there are fewer than 2.

GetHeight()

wpi::units::meter_t yams::mechanisms::positional::Elevator::GetHeight

(

)

const

Get the current carriage height from the motor encoder.

Returns

Current height in meters.

GetName()

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

overridevirtual

Get the human-readable name of this elevator.

Implements yams::mechanisms::SmartMechanism.

GetPose3d()

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

overridevirtual

Get the carriage's pose, for publishing to AdvantageScope as a component of a robot model: where the elevator is mounted, as set in its MechanismPositionConfig, moved up the elevator by its height, at the elevator's angle in its movement plane.

Returns

The pose of the carriage, relative to the robot.

Implements yams::mechanisms::SmartMechanism.

Gte()

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

(

wpi::units::meter_t

height

)

Trigger that fires while the elevator height is >= the given height.

Parameters

height

Reference height.

Returns

Trigger for the >= condition.

IsNear()

wpi::cmd::Trigger yams::mechanisms::positional::Elevator::IsNear	(	wpi::units::meter_t	height,
		wpi::units::meter_t	within = wpi::units::meter_t{0.01}
	)

Trigger that fires while the elevator is within tolerance of a height.

Parameters

height	Reference height.
within	Tolerance.

Returns

Trigger for the near condition.

Lte()

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

(

wpi::units::meter_t

height

)

Trigger that fires while the elevator height is <= the given height.

Parameters

height

Reference height.

Returns

Trigger for the <= condition.

Max()

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

overridevirtual

Trigger that becomes true when the elevator is at or above its maximum configured height.

Returns

Trigger for the upper hard limit.

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

Min()

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

overridevirtual

Trigger that becomes true when the elevator is at or below its minimum configured height.

Returns

Trigger for the lower hard limit.

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

Run() [1/2]

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

(

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

height

)

Set the height of the elevator via a supplier.

Parameters

height

Supplier returning the desired height each loop.

Returns

CommandPtr that sets the elevator height, runs continuously.

Run() [2/2]

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

(

wpi::units::meter_t

height

)

Set the height of the elevator.

Parameters

height

Height of the elevator to reach.

Returns

CommandPtr that sets the elevator height, runs continuously.

RunTo() [1/2]

wpi::cmd::CommandPtr yams::mechanisms::positional::Elevator::RunTo	(	std::function< wpi::units::meter_t()>	height,
		wpi::units::meter_t	tolerance = wpi::units::meter_t{0.01}
	)

Command the elevator to a height from a supplier, then end when within tolerance.

The supplier is evaluated once when the command is created.

Parameters

height	Supplier for the target height.
tolerance	Acceptable error.

Returns

CommandPtr that ends once the elevator is near the target.

RunTo() [2/2]

wpi::cmd::CommandPtr yams::mechanisms::positional::Elevator::RunTo	(	wpi::units::meter_t	height,
		wpi::units::meter_t	tolerance = wpi::units::meter_t{0.01}
	)

Command the elevator to a fixed height, then end when within tolerance.

Parameters

height	Target carriage height.
tolerance	Acceptable error.

Returns

CommandPtr that ends once the elevator is near the target.

SetHeight()

void yams::mechanisms::positional::Elevator::SetHeight

(

wpi::units::meter_t

height

)

Directly command the elevator to a height setpoint (non-command, for use in periodic).

Parameters

height

Desired carriage height.

SimIterate()

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

overridevirtual

Advance the elevator's simulation by one loop iteration.

Implements yams::mechanisms::SmartMechanism.

UpdateTelemetry()

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

overridevirtual

Publish elevator telemetry to NetworkTables / SmartDashboard.

Implements yams::mechanisms::SmartMechanism.

VisualizationUpdate()

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

overridevirtual

Update the Mechanism2d ligament to reflect the current height.

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/Elevator.hpp