Class Pivot

java.lang.Object

yams.core.mechanisms.SmartMechanism

yams.core.mechanisms.positional.SmartPositionalMechanism

yams.core.mechanisms.positional.Pivot

yams.commands3.mechanisms.Pivot

All Implemented Interfaces:

CommandMechanism

public class Pivot
extends Pivot
implements CommandMechanism

Command-based extension of Pivot that adds the Mechanism binding and Command/Trigger factories.

Usage Example

// --- Instantiation ---
Pivot pivot = new Pivot(pivotConfig, motor);

// --- Commands ---
Command aimHigh = pivot.setAngle(Degrees.of(45));
Command stowPivot = pivot.runTo(Degrees.of(0), Degrees.of(1));

// --- Trigger bindings ---
pivot.near(Degrees.of(45), Degrees.of(2)).onTrue(shooter.runShooter());

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
Pivot(PivotConfig config, SmartMotorController smc)	Construct the Pivot class

Method Summary

Modifier and Type	Method	Description
org.wpilib.command3.Trigger	between(org.wpilib.units.measure.Angle start, org.wpilib.units.measure.Angle end)	Between two angles.
org.wpilib.command3.Mechanism	getMechanism()	Mechanism the mechanism's commands should require.
org.wpilib.command3.Trigger	gte(org.wpilib.units.measure.Angle angle)	Greater than or equal to angle.
org.wpilib.command3.Trigger	lte(org.wpilib.units.measure.Angle angle)	Less than or equal to angle
org.wpilib.command3.Trigger	max()	Pivot is at max, defined by the soft limit or hard limit on the pivot.
org.wpilib.command3.Trigger	min()	Minimum angle of the pivot given by the soft limit or hard limit of the pivot.
org.wpilib.command3.Trigger	near(org.wpilib.units.measure.Angle angle, org.wpilib.units.measure.Angle within)	Pivot is near an angle.
org.wpilib.command3.Command	run(Supplier<org.wpilib.units.measure.Angle> angle)	Set the pivot to the given angle via a supplier.
org.wpilib.command3.Command	run(org.wpilib.units.measure.Angle angle)	Set the pivot to the given angle.
org.wpilib.command3.Command	runTo(Supplier<org.wpilib.units.measure.Angle> angle, org.wpilib.units.measure.Angle tolerance)	Set the pivot to the given angle then end the command.
org.wpilib.command3.Command	runTo(org.wpilib.units.measure.Angle angle, org.wpilib.units.measure.Angle tolerance)	Set the pivot to the given Angle then end the command.
org.wpilib.command3.Command	setAngle(Supplier<org.wpilib.units.measure.Angle> angle)	Set the pivot to the given angle.
org.wpilib.command3.Command	setAngle(org.wpilib.units.measure.Angle angle)	Set the pivot to the given angle.

Methods inherited from class Pivot

getAngle, getName, getPivotConfig, getPose3d, isAtMax, isAtMin, isBetween, isGte, isLte, 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

Pivot

public Pivot(PivotConfig config,
 SmartMotorController smc)

Construct the Pivot class

Parameters:

config - Pivot configuration.

smc - SmartMotorController driving the pivot.

Throws:

PivotConfigurationException - if running in simulation and the pivot lower or upper hard limit is not configured.

PivotConfigurationException - if running in simulation and the starting position is not configured.

PivotConfigurationException - if running in simulation and the starting position is outside the hard limits.

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

Implementation Note:

smc's config must be a SmartMotorControllerConfig with a 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.

between

public org.wpilib.command3.Trigger between(org.wpilib.units.measure.Angle start,
 org.wpilib.units.measure.Angle end)

Between two angles.

Parameters:

start - Start angle.

end - End angle

Returns:

Trigger

gte

public org.wpilib.command3.Trigger gte(org.wpilib.units.measure.Angle angle)

Greater than or equal to angle.

Parameters:

angle - Angle to check against.

Returns:

Trigger for Pivot.

lte

public org.wpilib.command3.Trigger lte(org.wpilib.units.measure.Angle angle)

Less than or equal to angle

Parameters:

angle - Angle to check against

Returns:

Trigger

setAngle

public org.wpilib.command3.Command setAngle(org.wpilib.units.measure.Angle angle)

Set the pivot to the given angle.

Parameters:

angle - Pivot angle to go to.

Returns:

Command that sets the pivot to the desired angle.

setAngle

public org.wpilib.command3.Command setAngle(Supplier<org.wpilib.units.measure.Angle> angle)

Set the pivot to the given angle.

Parameters:

angle - Pivot angle to go to.

Returns:

Command that sets the pivot to the desired angle.

run

public org.wpilib.command3.Command run(org.wpilib.units.measure.Angle angle)

Set the pivot to the given angle.

Parameters:

angle - Pivot angle to go to.

Returns:

Command that sets the pivot to the desired angle.

run

public org.wpilib.command3.Command run(Supplier<org.wpilib.units.measure.Angle> angle)

Set the pivot to the given angle via a supplier.

Parameters:

angle - Supplier for the pivot angle to go to.

Returns:

Command that sets the pivot to the desired angle.

runTo

public org.wpilib.command3.Command runTo(org.wpilib.units.measure.Angle angle,
 org.wpilib.units.measure.Angle tolerance)

Set the pivot to the given Angle then end the command.

Parameters:

angle - Angle to go to.

tolerance - Tolerance Angle

Returns:

Command that sets the pivot to the desired angle.

Implementation Note:

This command will not stop. It should NOT be used when there is a default command on the Mechanism.

runTo

public org.wpilib.command3.Command runTo(Supplier<org.wpilib.units.measure.Angle> angle,
 org.wpilib.units.measure.Angle tolerance)

Set the pivot to the given angle then end the command.

Parameters:

angle - Angle to go to.

tolerance - Tolerance Angle

Returns:

Command that sets the pivot to the desired angle.

Implementation Note:

This command will not stop. It should NOT be used when there is a default command on the Mechanism.

near

public org.wpilib.command3.Trigger near(org.wpilib.units.measure.Angle angle,
 org.wpilib.units.measure.Angle within)

Pivot is near an angle.

Parameters:

angle - Angle to be near.

within - Angle within.

Returns:

Trigger on when the pivot is near another angle.

max

public org.wpilib.command3.Trigger max()

Pivot is at max, defined by the soft limit or hard limit on the pivot.

Returns:

Trigger on maximum of the pivot.

Throws:

PivotConfigurationException - when the returned trigger is evaluated, if neither a motor controller upper soft limit nor a pivot upper hard limit is configured.

min

public org.wpilib.command3.Trigger min()

Minimum angle of the pivot given by the soft limit or hard limit of the pivot.

Returns:

Trigger on minimum of the pivot.

Throws:

PivotConfigurationException - when the returned trigger is evaluated, if neither a motor controller lower soft limit nor a pivot lower hard limit is configured.