#include <FlyWheel.hpp>

Inheritance diagram for yams::mechanisms::velocity::FlyWheel:

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Collaboration diagram for yams::mechanisms::velocity::FlyWheel:

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Public Member Functions
	FlyWheel (config::FlyWheelConfig 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::units::degrees_per_second_t	GetVelocity () const

wpi::cmd::CommandPtr	Run (wpi::units::degrees_per_second_t velocity)

wpi::cmd::CommandPtr	Run (std::function< wpi::units::degrees_per_second_t()> velocity)

wpi::cmd::CommandPtr	Run (wpi::units::meters_per_second_t surfaceSpeed)

wpi::cmd::CommandPtr	Run (std::function< wpi::units::meters_per_second_t()> surfaceSpeed)

wpi::cmd::CommandPtr	RunTo (wpi::units::degrees_per_second_t velocity, wpi::units::degrees_per_second_t tolerance=wpi::units::degrees_per_second_t{5.0})

wpi::cmd::CommandPtr	RunTo (std::function< wpi::units::degrees_per_second_t()> velocity, wpi::units::degrees_per_second_t tolerance=wpi::units::degrees_per_second_t{5.0})

wpi::cmd::CommandPtr	RunTo (wpi::units::meters_per_second_t velocity, wpi::units::meters_per_second_t tolerance)

wpi::cmd::CommandPtr	RunTo (std::function< wpi::units::meters_per_second_t()> velocity, wpi::units::meters_per_second_t tolerance)

wpi::cmd::Trigger	Gte (wpi::units::degrees_per_second_t velocity)

wpi::cmd::Trigger	Lte (wpi::units::degrees_per_second_t velocity)

wpi::cmd::Trigger	Between (wpi::units::degrees_per_second_t start, wpi::units::degrees_per_second_t end)

wpi::cmd::Trigger	IsNear (wpi::units::degrees_per_second_t velocity, wpi::units::degrees_per_second_t within=wpi::units::degrees_per_second_t{5.0}) const

void	SetVelocity (wpi::units::degrees_per_second_t velocity)

void	SetSurfaceSpeed (wpi::units::meters_per_second_t speed)

void	SetMeasurementVelocitySetpoint (wpi::units::meters_per_second_t velocity)

wpi::math::Pose3d	GetPose3d () const override

const config::FlyWheelConfig &	GetConfig () const

Public Member Functions inherited from yams::mechanisms::velocity::SmartVelocityMechanism
	SmartVelocityMechanism ()

virtual	~SmartVelocityMechanism ()=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::velocity::SmartVelocityMechanism
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 flywheel (velocity-controlled roller).

Drives a spinning element using a SmartMotorController configured for mechanism-space (degrees/second) closed-loop velocity control. If a roller diameter is provided, surface-speed commands and reads are also supported.

Example usage (inside a subsystem constructor)

using namespace yams::motorcontrollers;
using namespace yams::motorcontrollers::remote;
using namespace yams::gearing;
using namespace yams::mechanisms::velocity;
using Cfg = SmartMotorControllerConfig;
 
// Declare as subsystem members:
//   ctre::phoenix6::hardware::TalonFX m_talon{4};
//   std::optional<TalonFXWrapper>     m_motor;
//   FlyWheelConfig                     m_flyWheelConfig;
//   std::optional<FlyWheel>            m_flyWheel;
 
SmartMotorControllerConfig motorCfg;
motorCfg.WithSubsystem(this)
        .WithFeedback(100.0, 0.0, 0.0)
        .WithMotorGearing(MechanismGearing{GearBox::FromReductionStages({3.0, 4.0})})
        .WithZeroPower(Cfg::MotorMode::COAST)
        .WithStatorCurrentLimit(60.0_A)
        .WithMotorInverted(false)
        .WithFeedforward(wpi::math::SimpleMotorFeedforward<wpi::units::turns>{
            0.0_V,
wpi::units::unit_t<wpi::math::SimpleMotorFeedforward<wpi::units::turns>::kv_unit>{1.0},
            wpi::units::unit_t<wpi::math::SimpleMotorFeedforward<wpi::units::turns>::ka_unit>{0.0}})
        .WithClosedLoopMode()
        .WithTelemetry("ShooterMotor", Cfg::TelemetryVerbosity::HIGH);
 
m_motor.emplace(m_talon, wpi::math::DCMotor::Falcon500(1), motorCfg);
 
m_flyWheelConfig.WithRollerDiameter(4.0 * 0.0254_m)  // 4-inch roller
                .WithTelemetryName("Shooter");
 
m_flyWheel.emplace(&m_flyWheelConfig, &m_motor.value());
 
// Run at a fixed angular velocity (~2000 RPM):
m_flyWheel->Run(wpi::units::degrees_per_second_t{12000.0});
 
// Or run at a surface speed (requires roller diameter):
m_flyWheel->Run(10.0_mps);

Constructor & Destructor Documentation

◆ FlyWheel()

yams::mechanisms::velocity::FlyWheel::FlyWheel	(	config::FlyWheelConfig *	config,
		motorcontrollers::SmartMotorController *	smc
	)

Construct a FlyWheel from a FlyWheelConfig and a SmartMotorController.

Parameters

config	Pointer to the flywheel configuration (must outlive this object).
smc	Pointer to the motor controller (must outlive this object).

Member Function Documentation

◆ Between()

wpi::cmd::Trigger yams::mechanisms::velocity::FlyWheel::Between	(	wpi::units::degrees_per_second_t	start,
		wpi::units::degrees_per_second_t	end
	)

Trigger that fires while the flywheel angular velocity is between start and end (inclusive).

Parameters

start	Lower bound.
end	Upper bound.

Returns: Trigger for the range condition.

◆ GetConfig()

const config::FlyWheelConfig & yams::mechanisms::velocity::FlyWheel::GetConfig ( ) const

Get the configuration used to construct this flywheel.

Returns: Const reference to the FlyWheelConfig.

◆ GetName()

std::string yams::mechanisms::velocity::FlyWheel::GetName ( ) const

overridevirtual

Get the human-readable name of this flywheel.

Implements yams::mechanisms::SmartMechanism.

◆ GetPose3d()

wpi::math::Pose3d yams::mechanisms::velocity::FlyWheel::GetPose3d ( ) const

overridevirtual

Get the flywheel's pose, for publishing to AdvantageScope as a component of a robot model: where its axle is mounted, as set in its MechanismPositionConfig, turned by the wheel's position about the axis normal to its movement plane.

Returns: The pose of the flywheel, relative to the robot.

Implements yams::mechanisms::SmartMechanism.

◆ GetVelocity()

wpi::units::degrees_per_second_t yams::mechanisms::velocity::FlyWheel::GetVelocity ( ) const

Get the current angular velocity of the flywheel.

Returns: Current mechanism velocity in degrees per second.

◆ Gte()

wpi::cmd::Trigger yams::mechanisms::velocity::FlyWheel::Gte ( wpi::units::degrees_per_second_t velocity )

Trigger that fires while the flywheel angular velocity is >= the given velocity.

Parameters

velocity Reference angular velocity.

Returns: Trigger for the >= condition.

◆ IsNear()

wpi::cmd::Trigger yams::mechanisms::velocity::FlyWheel::IsNear	(	wpi::units::degrees_per_second_t	velocity,
		wpi::units::degrees_per_second_t	within = `wpi::units::degrees_per_second_t{5.0}`
	)		const

Trigger that fires while the flywheel is within tolerance of a velocity.

Parameters

velocity	Reference angular velocity.
within	Tolerance.

Returns: Trigger for the near condition.

◆ Lte()

wpi::cmd::Trigger yams::mechanisms::velocity::FlyWheel::Lte ( wpi::units::degrees_per_second_t velocity )

Trigger that fires while the flywheel angular velocity is <= the given velocity.

Parameters

velocity Reference angular velocity.

Returns: Trigger for the <= condition.

◆ Max()

wpi::cmd::Trigger yams::mechanisms::velocity::FlyWheel::Max ( )

overridevirtual

Trigger that becomes true when the flywheel is at or above its maximum configured velocity.

Returns: Trigger for the upper velocity limit.

Implements yams::mechanisms::velocity::SmartVelocityMechanism.

◆ Min()

wpi::cmd::Trigger yams::mechanisms::velocity::FlyWheel::Min ( )

overridevirtual

Trigger that becomes true when the flywheel is at or below its minimum configured velocity (e.g. stalled or reversed).

Returns: Trigger for the lower velocity limit.

Implements yams::mechanisms::velocity::SmartVelocityMechanism.

◆ Run() [1/4]

wpi::cmd::CommandPtr yams::mechanisms::velocity::FlyWheel::Run ( std::function< wpi::units::degrees_per_second_t()> velocity )

Set the flywheel to the given angular velocity via a supplier.

Parameters

velocity Supplier returning the desired angular velocity each loop.

Returns: CommandPtr that sets the flywheel to the desired speed.

◆ Run() [2/4]

wpi::cmd::CommandPtr yams::mechanisms::velocity::FlyWheel::Run ( std::function< wpi::units::meters_per_second_t()> surfaceSpeed )

Set the flywheel to the given surface speed via a supplier.

Requires that a roller diameter was provided in the config.

Parameters

surfaceSpeed Supplier returning the desired surface speed each loop.

Returns: CommandPtr that sets the flywheel to the desired surface speed.

◆ Run() [3/4]

wpi::cmd::CommandPtr yams::mechanisms::velocity::FlyWheel::Run ( wpi::units::degrees_per_second_t velocity )

Set the flywheel to the given angular velocity.

Parameters

velocity FlyWheel angular velocity to go to.

Returns: CommandPtr that sets the flywheel to the desired speed.

◆ Run() [4/4]

wpi::cmd::CommandPtr yams::mechanisms::velocity::FlyWheel::Run ( wpi::units::meters_per_second_t surfaceSpeed )

Set the flywheel to the given surface speed.

Requires that a roller diameter was provided in the config.

Parameters

surfaceSpeed Desired surface speed in metres per second.

Returns: CommandPtr that sets the flywheel to the desired surface speed.

◆ RunTo() [1/4]

wpi::cmd::CommandPtr yams::mechanisms::velocity::FlyWheel::RunTo	(	std::function< wpi::units::degrees_per_second_t()>	velocity,
		wpi::units::degrees_per_second_t	tolerance = `wpi::units::degrees_per_second_t{5.0}`
	)

Run the flywheel to a supplier-provided angular velocity within a tolerance, then end the command.

The supplier is evaluated once when the command is created.

Parameters

velocity	Supplier returning the target angular velocity.
tolerance	Allowable error.

Returns: CommandPtr that ends once the flywheel is near the target velocity.

Note: Do not use with a default command on the subsystem, as it will override the setting after this ends.

◆ RunTo() [2/4]

wpi::cmd::CommandPtr yams::mechanisms::velocity::FlyWheel::RunTo	(	std::function< wpi::units::meters_per_second_t()>	velocity,
		wpi::units::meters_per_second_t	tolerance
	)

Run the flywheel to a supplier-provided surface speed within a tolerance, then end the command.

Requires that a roller diameter was provided in the config.

Parameters

velocity	Supplier returning the target surface speed.
tolerance	Allowable error.

Returns: CommandPtr that ends once the flywheel is near the target surface speed.

Note: Do not use with a default command on the subsystem, as it will override the setting after this ends.

◆ RunTo() [3/4]

wpi::cmd::CommandPtr yams::mechanisms::velocity::FlyWheel::RunTo	(	wpi::units::degrees_per_second_t	velocity,
		wpi::units::degrees_per_second_t	tolerance = `wpi::units::degrees_per_second_t{5.0}`
	)

Run the flywheel to an angular velocity within a tolerance, then end the command.

Parameters

velocity	Target angular velocity.
tolerance	Allowable error.

Returns: CommandPtr that ends once the flywheel is near the target velocity.

Note: Do not use with a default command on the subsystem, as it will override the setting after this ends.

◆ RunTo() [4/4]

wpi::cmd::CommandPtr yams::mechanisms::velocity::FlyWheel::RunTo	(	wpi::units::meters_per_second_t	velocity,
		wpi::units::meters_per_second_t	tolerance
	)

Run the flywheel to a surface speed within a tolerance, then end the command.

Requires that a roller diameter was provided in the config.

Parameters

velocity	Target surface speed.
tolerance	Allowable error.

Returns: CommandPtr that ends once the flywheel is near the target surface speed.

Note: Do not use with a default command on the subsystem, as it will override the setting after this ends.

◆ SetMeasurementVelocitySetpoint()

void yams::mechanisms::velocity::FlyWheel::SetMeasurementVelocitySetpoint ( wpi::units::meters_per_second_t velocity )

Set flywheel velocity from a linear surface speed (base-class override).

Converts the surface speed to angular velocity using the configured roller diameter. Requires roller diameter to be configured; no-op otherwise.

Parameters

velocity Desired surface speed.

◆ SetSurfaceSpeed()

void yams::mechanisms::velocity::FlyWheel::SetSurfaceSpeed ( wpi::units::meters_per_second_t speed )

Directly command the flywheel to a surface speed setpoint (non-command).

Requires roller diameter to be configured; no-op otherwise.

Parameters

speed Desired surface speed.

◆ SetVelocity()

void yams::mechanisms::velocity::FlyWheel::SetVelocity ( wpi::units::degrees_per_second_t velocity )

Directly command the flywheel to an angular velocity setpoint (non-command).

Parameters

velocity Desired angular velocity.

◆ SimIterate()

void yams::mechanisms::velocity::FlyWheel::SimIterate ( )

overridevirtual

Advance the flywheel's simulation by one loop iteration.

Implements yams::mechanisms::SmartMechanism.

◆ UpdateTelemetry()

void yams::mechanisms::velocity::FlyWheel::UpdateTelemetry ( )

overridevirtual

Publish flywheel telemetry to NetworkTables / SmartDashboard.

Implements yams::mechanisms::SmartMechanism.

◆ VisualizationUpdate()

void yams::mechanisms::velocity::FlyWheel::VisualizationUpdate ( )

overridevirtual

Update the Mechanism2d ligament to reflect the current velocity.

Implements yams::mechanisms::SmartMechanism.

The documentation for this class was generated from the following file:

/home/runner/work/YAMS/YAMS/yams/cpp/include/yams/mechanisms/velocity/FlyWheel.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Example usage (inside a subsystem constructor)

Constructor & Destructor Documentation

◆ FlyWheel()

Member Function Documentation

◆ Between()

◆ GetConfig()

◆ GetName()

◆ GetPose3d()

◆ GetVelocity()

◆ Gte()

◆ IsNear()

◆ Lte()

◆ Max()

◆ Min()

◆ Run() [1/4]

◆ Run() [2/4]

◆ Run() [3/4]

◆ Run() [4/4]

◆ RunTo() [1/4]

◆ RunTo() [2/4]

◆ RunTo() [3/4]

◆ RunTo() [4/4]

◆ SetMeasurementVelocitySetpoint()

◆ SetSurfaceSpeed()

◆ SetVelocity()

◆ SimIterate()

◆ UpdateTelemetry()

◆ VisualizationUpdate()