Class DoubleJointedArm

java.lang.Object

yams.core.mechanisms.SmartMechanism

yams.core.mechanisms.positional.SmartPositionalMechanism

yams.core.mechanisms.positional.DoubleJointedArm

yams.commands3.mechanisms.DoubleJointedArm

All Implemented Interfaces:

CommandMechanism

public class DoubleJointedArm
extends DoubleJointedArm
implements CommandMechanism

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

Control Examples

// Set explicit joint angles: shoulder at 45°, elbow at 90°.
Command positionCommand = arm.setAngle(Degrees.of(45), Degrees.of(90));

// Move to a Cartesian target (0.4 m forward, 0.6 m up) using inverse kinematics.
Command ikCommand = arm.setPosition(new Translation2d(0.4, 0.6), false);

// Continuously track a target while within 5 cm tolerance, then finish.
Command trackCommand = arm.runTo(new Translation2d(0.5, 0.7), false, Centimeters.of(5));

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
DoubleJointedArm(ArmConfig lowerConfig, SmartMotorController lowerSMC, ArmConfig upperConfig, SmartMotorController upperSMC)	Constructor for the Arm 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.math.geometry.Translation2d> translation, Supplier<Boolean> invert)	Set the position of the DoubleJointedArm to be at pose in meters.
org.wpilib.command3.Command	run(org.wpilib.math.geometry.Translation2d translation2d, boolean invert)	Set the position of the DoubleJointedArm to be at pose in meters.
org.wpilib.command3.Command	runTo(Supplier<org.wpilib.math.geometry.Translation2d> translation, Supplier<Boolean> invert, org.wpilib.units.measure.Distance tolerance)	Runs to the given target and stops the command.
org.wpilib.command3.Command	runTo(org.wpilib.math.geometry.Translation2d translation2d, boolean invert, org.wpilib.units.measure.Distance tolerance)	Runs to the given target and stops the command.
org.wpilib.command3.Command	set(Double lowerDutycycle, Double upperDutycycle)	Simple duty cycle command.
org.wpilib.command3.Command	setAngle(org.wpilib.units.measure.Angle lowerAngle, org.wpilib.units.measure.Angle upperAngle)	Set the shoulder and elbow angle of the DoubleJointedArm.
org.wpilib.command3.Command	setPosition(org.wpilib.math.geometry.Translation2d translation, boolean invert)	Set the position of the DoubleJointedArm to be at pose in meters.

Methods inherited from class DoubleJointedArm

getAnglesForPosition, getLowerAngle, getLowerArmConfig, getLowerMotorController, getName, getPose3d, getPosition, getUpperAngle, getUpperArmConfig, getUpperMotorController, getUpperPose3d, isAtMax, isAtMin, isNear, 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

DoubleJointedArm

public DoubleJointedArm(ArmConfig lowerConfig,
 SmartMotorController lowerSMC,
 ArmConfig upperConfig,
 SmartMotorController upperSMC)

Constructor for the Arm mechanism.

Parameters:

lowerConfig - Lower ArmConfig to use.

lowerSMC - SmartMotorController driving the lower joint.

upperConfig - Upper ArmConfig to use.

upperSMC - SmartMotorController driving the upper joint.

Throws:

DoubleJointedArmConfigurationException - if either motor controller's starting position is not configured.

DoubleJointedArmConfigurationException - if either arm length is not configured.

DoubleJointedArmConfigurationException - if running in simulation and any arm lower or upper hard limit is not configured.

DoubleJointedArmConfigurationException - if the two motor controllers' configs do not share the same Mechanism.

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(org.wpilib.math.geometry.Translation2d translation,
 boolean invert)

Set the position of the DoubleJointedArm to be at pose in meters.

Parameters:

translation - Translation2d where X is away from root, and Y is up.

invert - Invert the eblow.

Returns:

Command that will reach the specified goal.

run

public org.wpilib.command3.Command run(org.wpilib.math.geometry.Translation2d translation2d,
 boolean invert)

Set the position of the DoubleJointedArm to be at pose in meters.

Parameters:

translation2d - Translation2d where X is away from root, and Y is up.

invert - Invert the eblow.

Returns:

Command that will reach the specified goal.

run

public org.wpilib.command3.Command run(Supplier<org.wpilib.math.geometry.Translation2d> translation,
 Supplier<Boolean> invert)

Set the position of the DoubleJointedArm to be at pose in meters.

Parameters:

translation - Supplier<org.wpilib.math.geometry.Translation2d> where X is away from root, and Y is up.

invert - Supplier<Boolean> Invert the eblow.

Returns:

Command that will reach the specified goal.

runTo

public org.wpilib.command3.Command runTo(org.wpilib.math.geometry.Translation2d translation2d,
 boolean invert,
 org.wpilib.units.measure.Distance tolerance)

Runs to the given target and stops the command. Note, if you have a default command it will take over.

Parameters:

translation2d - Target position

invert - Invert the elbow direction.

tolerance - Tolerance

Returns:

Command that will reach the specified goal.

runTo

public org.wpilib.command3.Command runTo(Supplier<org.wpilib.math.geometry.Translation2d> translation,
 Supplier<Boolean> invert,
 org.wpilib.units.measure.Distance tolerance)

Runs to the given target and stops the command. Note, if you have a default command it will take over.

Parameters:

translation - Target position

invert - Invert the elbow direction.

tolerance - Tolerance

Returns:

Command that will reach the specified goal.

setAngle

public org.wpilib.command3.Command setAngle(org.wpilib.units.measure.Angle lowerAngle,
 org.wpilib.units.measure.Angle upperAngle)

Set the shoulder and elbow angle of the DoubleJointedArm.

Parameters:

lowerAngle - Angle of the shoulder.

upperAngle - Angle of the elbow.

Returns:

Command that will set the angles.

set

public org.wpilib.command3.Command set(Double lowerDutycycle,
 Double upperDutycycle)

Simple duty cycle command.

Parameters:

lowerDutycycle - Dutycycle of the shoulder.

upperDutycycle - DutyCycle of the elbow.

Returns:

Command to set the DutyCycle.