Class DifferentialMechanism

java.lang.Object

yams.core.mechanisms.SmartMechanism

yams.core.mechanisms.positional.SmartPositionalMechanism

yams.core.mechanisms.positional.DifferentialMechanism

yams.commands3.mechanisms.DifferentialMechanism

All Implemented Interfaces:

CommandMechanism

public class DifferentialMechanism
extends DifferentialMechanism
implements CommandMechanism

Command-based extension of DifferentialMechanism that adds the Mechanism binding and Command factories.

Usage Example

DifferentialMechanismConfig config = new DifferentialMechanismConfig(leftSMC, rightSMC)
    .withStartingPosition(Degrees.of(30), Degrees.of(0))  // tilt=30°, twist=0°
    .withLength(Inches.of(14))
    .withMOI(Inches.of(14), Pounds.of(2))
    .withTelemetry("DifferentialWrist", TelemetryVerbosity.HIGH);

DifferentialMechanism wrist = new DifferentialMechanism(config);

// Command: tilt to 60° and twist to 45°.
Command scoreCommand = wrist.setPosition(Degrees.of(60), Degrees.of(45));

// Command: continuously follow a joystick (suppliers).
Command manualCommand = wrist.run(
    () -> Degrees.of(driverController.getLeftY() * 90),
    () -> Degrees.of(driverController.getRightX() * 90));

Field Summary

Fields inherited from class SmartPositionalMechanism

m_mechanismLigament, m_mechanismRoot

Fields inherited from class SmartMechanism

m_mechanismWindow, m_smc, m_telemetry

Constructor Summary

Constructors

Constructor	Description
DifferentialMechanism(DifferentialMechanismConfig diffConfig)	Constructor for the Differential mechanism.

Method Summary

Modifier and Type	Method	Description
org.wpilib.command3.Mechanism	getMechanism()	Mechanism the mechanism's commands should require.
org.wpilib.command3.Command	run(Supplier<org.wpilib.units.measure.Angle> tilt, Supplier<org.wpilib.units.measure.Angle> twist)	Run the differential mechanism to a position.
org.wpilib.command3.Command	run(org.wpilib.units.measure.Angle tilt, org.wpilib.units.measure.Angle twist)	Set the position of the differential mechanism.
org.wpilib.command3.Command	set(double tilt, double twist)	Set the dutycycle of the differential mechanism.
org.wpilib.command3.Command	setPosition(Supplier<org.wpilib.units.measure.Angle> tilt, Supplier<org.wpilib.units.measure.Angle> twist)	Set the position of the differential mechanism using suppliers.
org.wpilib.command3.Command	setPosition(org.wpilib.units.measure.Angle tilt, org.wpilib.units.measure.Angle twist)	Set the position of the differential mechanism.

Methods inherited from class DifferentialMechanism

getDifferentialMechanismConfig, getLeftMotorController, getName, getPose3d, getRightMotorController, getTiltPosition, getTwistPosition, isAtMax, isAtMin, simIterate, updateTelemetry, visualizationUpdate

Methods inherited from class SmartPositionalMechanism

getMechanismLigament, getMechanismRoot, getMotor

Methods inherited from class SmartMechanism

getMeasurementSetpoint, getMechanismSetpoint, getMechanismWindow, getMotorController, publishMechanismWindow, setDutyCycleSetpoint, setMeasurementPositionSetpoint, setMeasurementVelocitySetpoint, setMechanismPositionSetpoint, setMechanismVelocitySetpoint, setVoltageSetpoint

Methods inherited from class Object

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

Methods inherited from interface CommandMechanism

getMotorController, set, set, setVoltage, setVoltage

Constructor Details

DifferentialMechanism

public DifferentialMechanism(DifferentialMechanismConfig diffConfig)

Constructor for the Differential mechanism.

Parameters:

diffConfig - Lower DifferentialMechanismConfig to use.

Throws:

DifferentialMechanismConfigurationException - if the starting tilt or twist angle is not configured.

DifferentialMechanismConfigurationException - if the length is not configured.

DifferentialMechanismConfigurationException - if running in simulation and the MOI is not configured.

DifferentialMechanismConfigurationException - if the left and right motor controllers' configs do not share the same Mechanism.

NoSuchElementException - if the left or right SmartMotorController was never set on diffConfig.

SmartMotorControllerConfigurationException - if either motor controller's config does not have a Mechanism set via withMechanism(Mechanism).

Implementation Note:

Both motor controllers' configs must be SmartMotorControllerConfigs that share the same Mechanism set via withMechanism(Mechanism).

Method Details

getMechanism

public org.wpilib.command3.Mechanism getMechanism()

Description copied from interface: CommandMechanism

Mechanism the mechanism's commands should require.

Specified by:

getMechanism in interface CommandMechanism

Returns:

Mechanism for the mechanism.

setPosition

public org.wpilib.command3.Command setPosition(Supplier<org.wpilib.units.measure.Angle> tilt,
 Supplier<org.wpilib.units.measure.Angle> twist)

Set the position of the differential mechanism using suppliers.

Parameters:

tilt - Tilt of the Differential Mechanism.

twist - Twist of the Differential Mechanism.

Returns:

Command to set the position.

set

public org.wpilib.command3.Command set(double tilt,
 double twist)

Set the dutycycle of the differential mechanism.

Parameters:

tilt - Tilt dutycycle.

twist - Twist dutycycle.

Returns:

Command to set the differential mechanism duty cycle.

setPosition

public org.wpilib.command3.Command setPosition(org.wpilib.units.measure.Angle tilt,
 org.wpilib.units.measure.Angle twist)

Set the position of the differential mechanism.

Parameters:

tilt - Tilt of the differential mechanism.

twist - Twist of the differential mechanism.

Returns:

Command to set the position.

run

public org.wpilib.command3.Command run(org.wpilib.units.measure.Angle tilt,
 org.wpilib.units.measure.Angle twist)

Set the position of the differential mechanism.

Parameters:

tilt - Tilt of the differential mechanism.

twist - Twist of the differential mechanism.

Returns:

Command to set the position.

run

public org.wpilib.command3.Command run(Supplier<org.wpilib.units.measure.Angle> tilt,
 Supplier<org.wpilib.units.measure.Angle> twist)

Run the differential mechanism to a position.

Parameters:

tilt - Supplier of the tilt angle.

twist - Supplier of the twist angle.

Returns:

Command to run the differential mechanism to the position.