yams::mechanisms::positional::Pivot Class Reference

#include <Pivot.hpp>

Inheritance diagram for yams::mechanisms::positional::Pivot:

Collaboration diagram for yams::mechanisms::positional::Pivot:

Public Member Functions
	Pivot (config::PivotConfig *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::PivotConfig &	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 pivot joint.

Similar to an Arm but intended for mechanisms that rotate a fixed-length assembly (e.g. a shooter hood or wrist) rather than a cantilevered arm with a meaningful length. Uses mechanism-space (degree) closed-loop 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::TalonFXS m_talonFXS{3};
//   std::optional<TalonFXSWrapper>      m_smc;
//   PivotConfig                          m_pivotConfig;
//   std::optional<Pivot>                 m_pivot;
 
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("HoodMotor", Cfg::TelemetryVerbosity::HIGH);
 
m_smc.emplace(m_talonFXS, wpi::math::DCMotor::NEO(1),
              TalonFXSWrapper::MotorArrangement::NEO, motorCfg);
 
m_pivotConfig.WithMinAngle(-100.0_deg)
             .WithMaxAngle(200.0_deg)
             .WithTelemetryName("HoodExample");
 
m_pivot.emplace(&m_pivotConfig, &m_smc.value());
 
// In commands or bindings:
m_pivot->RunTo(30.0_deg);

Constructor & Destructor Documentation

Pivot()

yams::mechanisms::positional::Pivot::Pivot	(	config::PivotConfig *	config,
		motorcontrollers::SmartMotorController *	smc
	)

Construct a Pivot from a PivotConfig and a SmartMotorController.

Parameters

config	Pointer to the pivot configuration (must outlive this Pivot).
smc	Pointer to the motor controller (must outlive this Pivot).

Member Function Documentation

Between()

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

Trigger that fires while the pivot 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::Pivot::GetAngle

(

)

const

Get the current pivot angle from the motor encoder.

Returns

Current mechanism angle in degrees.

GetConfig()

const config::PivotConfig & yams::mechanisms::positional::Pivot::GetConfig

(

)

const

Get the configuration used to construct this pivot.

Returns

Const reference to the PivotConfig.

GetName()

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

overridevirtual

Get the human-readable name of this pivot.

Implements yams::mechanisms::SmartMechanism.

GetPose3d()

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

overridevirtual

Get the pivot'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 pivot's angle about the axis normal to its movement plane. A turret turns in the XY plane.

Returns

The pose of the pivot, relative to the robot.

Implements yams::mechanisms::SmartMechanism.

Gte()

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

(

wpi::units::degree_t

angle

)

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

Parameters

angle

Reference angle.

Returns

Trigger for the >= condition.

IsNear()

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

Trigger that fires while the pivot 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::Pivot::Lte

(

wpi::units::degree_t

angle

)

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

Parameters

angle

Reference angle.

Returns

Trigger for the <= condition.

Max()

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

overridevirtual

Trigger that becomes true when the pivot 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::Pivot::Min ( )

overridevirtual

Trigger that becomes true when the pivot 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::Pivot::Run

(

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

angle

)

Set the pivot to the given angle via a supplier.

Parameters

angle

Supplier returning the desired pivot angle each loop.

Returns

CommandPtr that requires the configured subsystem.

Run() [2/2]

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

(

wpi::units::degree_t

angle

)

Set the pivot to the given angle.

Parameters

angle

Pivot angle to go to.

Returns

CommandPtr that requires the configured subsystem.

RunTo() [1/2]

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

Command the pivot 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 pivot is near the target.

RunTo() [2/2]

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

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

Parameters

angle	Target pivot angle.
tolerance	Acceptable error.

Returns

CommandPtr that ends once the pivot is near the target.

SetAngle()

void yams::mechanisms::positional::Pivot::SetAngle

(

wpi::units::degree_t

angle

)

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

Parameters

angle

Desired pivot angle.

SimIterate()

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

overridevirtual

Advance the pivot's simulation by one loop iteration.

Implements yams::mechanisms::SmartMechanism.

UpdateTelemetry()

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

overridevirtual

Publish pivot telemetry to NetworkTables / SmartDashboard.

Implements yams::mechanisms::SmartMechanism.

VisualizationUpdate()

void yams::mechanisms::positional::Pivot::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/Pivot.hpp