Class SmartMotorControllerConfig

java.lang.Object

yams.core.motorcontrollers.SmartMotorControllerConfig<SmartMotorControllerConfig>

yams.commands2.config.SmartMotorControllerConfig

public class SmartMotorControllerConfig
extends SmartMotorControllerConfig<SmartMotorControllerConfig>

Command-based extension of SmartMotorControllerConfig that adds the Subsystem binding and command-layer helpers (e.g. live tuning) that core must not depend on.

Example

SmartMotorControllerConfig config = new SmartMotorControllerConfig(this)
    .withMotorInverted(false)
    .withStatorCurrentLimit(Amps.of(40));

Nested Class Summary

Nested classes/interfaces inherited from class SmartMotorControllerConfig

SmartMotorControllerConfig.SmartMotorControllerOptions

Constructor Summary

Constructors

Constructor	Description
SmartMotorControllerConfig()	Construct the SmartMotorControllerConfig with a Subsystem added later.
SmartMotorControllerConfig(org.wpilib.command2.Subsystem subsystem)	Construct the SmartMotorControllerConfig for the Subsystem

Method Summary

Modifier and Type	Method	Description
SmartMotorControllerConfig	clone()
org.wpilib.command2.Subsystem	getSubsystem()	Get the subsystem controlled by the SmartMotorController
protected SmartMotorControllerConfig	self()	Get this config as its concrete type, so chained with calls keep the subclass type.
void	setupLiveTuning()	Set up live tuning for the SmartMotorController this config is attached to: registers a shared "Live Tuning" Command on getSubsystem() via SmartMotorControllerCommandRegistry that pulls tuned values from NetworkTables each loop, and registers cleanup so the registration is removed when the controller is closed.
SmartMotorControllerConfig	withSubsystem(org.wpilib.command2.Subsystem subsystem)	Sets the Subsystem for the SmartMotorControllerConfig to pass along to SmartMotorController and the mechanisms built on it.

Methods inherited from class SmartMotorControllerConfig

attachController, clearFollowers, convertFromMechanism, convertFromMechanism, convertFromMechanism, convertFromMechanism, convertToCurrent, convertToMechanism, convertToMechanism, convertToMechanism, convertToMechanism, convertToVoltage, getArmFeedforward, getAttachedController, getClosedLoopControllerMaximumVoltage, getClosedLoopControlPeriod, getClosedLoopRampRate, getClosedLoopTolerance, getContinuousWrapping, getContinuousWrappingMin, getContinuousWrappingSetpoint, getElevatorFeedforward, getEncoderInverted, getExponentialProfile, getExternalEncoder, getExternalEncoderDiscontinuityPoint, getExternalEncoderGearing, getExternalEncoderInverted, getExternalEncoderZeroOffset, getFeedbackSynchronizationThreshold, getFollowers, getGearing, getLinearClosedLoopControllerUse, getLooselyCoupledFollowers, getLQRClosedLoopController, getMechanismCircumference, getMechanismLowerLimit, getMechanismUpperLimit, getMOI, getMotorControllerMode, getMotorInverted, getOpenLoopRampRate, getPID, getResetPreviousConfig, getSimpleFeedforward, getSimulationPeriod, getSmartControllerTelemetryConfig, getStartingPosition, getStatorStallCurrentLimit, getSupplyStallCurrentLimit, getTelemetryName, getTemperatureCutoff, getTrapezoidProfile, getUseExternalFeedback, getVelocityTrapezoidalProfileInUse, getVendorConfig, getVendorControlRequest, getVerbosity, getVoltageCompensation, getZeroPower, resetValidationCheck, validateBasicOptions, validateExternalEncoderOptions, withCascadingElevatorStages, withClosedLoopController, withClosedLoopController, withClosedLoopController, withClosedLoopController, withClosedLoopController, withClosedLoopControllerMaximumVoltage, withClosedLoopControlPeriod, withClosedLoopControlPeriod, withClosedLoopRampRate, withClosedLoopTolerance, withClosedLoopTolerance, withContinuousWrapping, withControlMode, withDrumRadius, withDrumRadius, withEncoderInverted, withExponentialProfile, withExponentialProfile, withExponentialProfile, withExponentialProfile, withExternalEncoder, withExternalEncoderDiscontinuityPoint, withExternalEncoderGearing, withExternalEncoderGearing, withExternalEncoderInverted, withExternalEncoderZeroOffset, withExternalEncoderZeroOffset, withFeedbackSynchronizationThreshold, withFeedforward, withFeedforward, withFeedforward, withFeedforward, withFeedforward, withFeedforward, withFollowers, withGearing, withGearing, withInputCurrentLimit, withLinearClosedLoopController, withLooselyCoupledFollowers, withMechanismCircumference, withMomentOfInertia, withMomentOfInertia, withMotorInverted, withOpenLoopRampRate, withOutputCurrentLimit, withProfile, withProfile, withResetPreviousConfig, withSimClosedLoopController, withSimClosedLoopController, withSimClosedLoopController, withSimClosedLoopController, withSimClosedLoopController, withSimFeedforward, withSimFeedforward, withSimFeedforward, withSimFeedforward, withSimFeedforward, withSimFeedforward, withSimStartingPosition, withSimStartingPosition, withSimulationPeriod, withSoftLimits, withSoftLimits, withStartingPosition, withStartingPosition, withStatorCurrentLimit, withSupplyCurrentLimit, withTelemetry, withTelemetry, withTelemetry, withTemperatureCutoff, withTrapezoidalProfile, withTrapezoidalProfile, withTrapezoidalProfile, withTrapezoidalProfile, withTrapezoidalProfileConstraints, withUseExternalFeedbackEncoder, withVelocityTrapezoidalProfile, withVendorConfig, withVendorControlRequest, withVoltageCompensation, withWheelDiameter, withWheelRadius, withZeroPower

Methods inherited from class Object

equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

SmartMotorControllerConfig

public SmartMotorControllerConfig(org.wpilib.command2.Subsystem subsystem)

Construct the SmartMotorControllerConfig for the Subsystem

Parameters:

subsystem - Subsystem to use.

SmartMotorControllerConfig

public SmartMotorControllerConfig()

Construct the SmartMotorControllerConfig with a Subsystem added later.

Implementation Note:

You must use withSubsystem(Subsystem) before passing off to SmartMotorController

Method Details

self

protected SmartMotorControllerConfig self()

Description copied from class: SmartMotorControllerConfig

Get this config as its concrete type, so chained with calls keep the subclass type.

Specified by:

self in class SmartMotorControllerConfig<SmartMotorControllerConfig>

Returns:

this SmartMotorControllerConfig.

clone

public SmartMotorControllerConfig clone()

Specified by:

clone in class SmartMotorControllerConfig<SmartMotorControllerConfig>

withSubsystem

public SmartMotorControllerConfig withSubsystem(org.wpilib.command2.Subsystem subsystem)

Sets the Subsystem for the SmartMotorControllerConfig to pass along to SmartMotorController and the mechanisms built on it. Must be set if a Subsystem was not defined previously.

Parameters:

subsystem - Subsystem to use.

Returns:

SmartMotorControllerConfig for chaining.

Throws:

SmartMotorControllerConfigurationException - if a Subsystem has already been set, either through the constructor or a previous call to this method.

Implementation Note:

Does not copy the entire config, should NEVER be reused.

getSubsystem

public org.wpilib.command2.Subsystem getSubsystem()

Get the subsystem controlled by the SmartMotorController

Returns:

Subsystem controlled.

Throws:

SmartMotorControllerConfigurationException - if no Subsystem was set, i.e. the no-arg constructor (or a null subsystem) was used and withSubsystem(Subsystem) was never called.

setupLiveTuning

public void setupLiveTuning()

Set up live tuning for the SmartMotorController this config is attached to: registers a shared "Live Tuning" Command on getSubsystem() via SmartMotorControllerCommandRegistry that pulls tuned values from NetworkTables each loop, and registers cleanup so the registration is removed when the controller is closed.

Overrides:

setupLiveTuning in class SmartMotorControllerConfig<SmartMotorControllerConfig>

Throws:

IllegalStateException - if a different Subsystem instance with the same name has already registered a "Live Tuning" command.