#include <SmartPositionalMechanism.hpp>

Inheritance diagram for yams::mechanisms::positional::SmartPositionalMechanism:

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Collaboration diagram for yams::mechanisms::positional::SmartPositionalMechanism:

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Public Member Functions
	SmartPositionalMechanism ()

virtual	~SmartPositionalMechanism ()=default

virtual wpi::cmd::Trigger	Max ()=0

virtual wpi::cmd::Trigger	Min ()=0

wpi::MechanismLigament2d *	GetMechanismLigament ()

wpi::MechanismRoot2d *	GetMechanismRoot ()

motorcontrollers::SmartMotorController *	GetMotor ()

Public Member Functions inherited from yams::mechanisms::SmartMechanism
	SmartMechanism ()

virtual	~SmartMechanism ()=default

virtual void	SimIterate ()=0

virtual void	UpdateTelemetry ()=0

virtual void	VisualizationUpdate ()=0

virtual std::string	GetName () const =0

virtual wpi::math::Pose3d	GetPose3d () const =0

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 ()

Protected Attributes
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

Abstract base class for positionally-controlled mechanisms (arms, elevators, pivots, etc.).

Extends SmartMechanism with hardware limit triggers and Mechanism2d ligament/root accessors for visualisation.

Constructor & Destructor Documentation

◆ SmartPositionalMechanism()

yams::mechanisms::positional::SmartPositionalMechanism::SmartPositionalMechanism ( )

inline

◆ ~SmartPositionalMechanism()

virtual yams::mechanisms::positional::SmartPositionalMechanism::~SmartPositionalMechanism ( )

virtualdefault

Member Function Documentation

◆ GetMechanismLigament()

wpi::MechanismLigament2d * yams::mechanisms::positional::SmartPositionalMechanism::GetMechanismLigament ( )

Get the MechanismLigament2d used to animate this mechanism.

Returns: Pointer to the ligament, or nullptr if not initialised.

◆ GetMechanismRoot()

wpi::MechanismRoot2d * yams::mechanisms::positional::SmartPositionalMechanism::GetMechanismRoot ( )

Get the MechanismRoot2d anchor point for this mechanism.

Returns: Pointer to the root, or nullptr if not initialised.

◆ GetMotor()

motorcontrollers::SmartMotorController * yams::mechanisms::positional::SmartPositionalMechanism::GetMotor ( )

Get the underlying SmartMotorController (alias for GetMotorController()).

Returns: Pointer to the motor controller.

◆ Max()

virtual wpi::cmd::Trigger yams::mechanisms::positional::SmartPositionalMechanism::Max ( )

pure virtual

Trigger that becomes true when the mechanism is at or past its maximum (forward / upper) hard limit.

Returns: Trigger for the maximum limit condition.

Implemented in yams::mechanisms::positional::Arm, yams::mechanisms::positional::Elevator, and yams::mechanisms::positional::Pivot.

◆ Min()

virtual wpi::cmd::Trigger yams::mechanisms::positional::SmartPositionalMechanism::Min ( )

pure virtual

Trigger that becomes true when the mechanism is at or past its minimum (reverse / lower) hard limit.

Returns: Trigger for the minimum limit condition.

Implemented in yams::mechanisms::positional::Arm, yams::mechanisms::positional::Elevator, and yams::mechanisms::positional::Pivot.

Member Data Documentation

◆ m_mechanismLigament

wpi::MechanismLigament2d* yams::mechanisms::positional::SmartPositionalMechanism::m_mechanismLigament {nullptr}

protected

Animated ligament representing the moving part of the mechanism.

◆ m_mechanismRoot

wpi::MechanismRoot2d* yams::mechanisms::positional::SmartPositionalMechanism::m_mechanismRoot {nullptr}