Class DifferentialMechanismConfigurationException

java.lang.Object

java.lang.Throwable

java.lang.Exception

java.lang.RuntimeException

yams.core.exceptions.DifferentialMechanismConfigurationException

All Implemented Interfaces:

Serializable

public class DifferentialMechanismConfigurationException
extends RuntimeException

Thrown by DifferentialMechanism or DifferentialMechanismConfig when a required field is missing or an attempt is made to violate a config invariant.

Common triggers include:

• withSmartMotorControllers(SmartMotorController, SmartMotorController) called more than once the left or right motor controller has already been set
• The left and right motor controllers do not share the same WPILib Subsystem instance
• Starting tilt or twist angle not configured (withTiltStartingPosition(Angle) / withTwistStartingPosition(Angle))
• Mechanism length not set (withLength(Distance)) required to compute the current end-effector position
• Twist MOI not set (withMOI()) required for simulation

Resolution: Call DifferentialMechanismConfig.withSmartMotorControllers(left, right) exactly once, ensure both motors reference the same subsystem via SmartMotorControllerConfig.withSubsystem(Subsystem), and provide all required geometry and simulation parameters.

Example minimal configuration:

DifferentialMechanismConfig config = new DifferentialMechanismConfig()
    .withSmartMotorControllers(leftMotor, rightMotor)
    .withLength(Inches.of(20))
    .withTiltStartingPosition(Degrees.of(0))
    .withTwistStartingPosition(Degrees.of(0));
DifferentialMechanism mech = new DifferentialMechanism(config);

See Also:

• DifferentialMechanism
• DifferentialMechanismConfig
• Serialized Form

Constructor Summary

Constructors

Constructor	Description
DifferentialMechanismConfigurationException(String message, String result, String remedyFunction)	Differential Mechanism configuration exception.

Method Summary

Methods inherited from class Throwable

addSuppressed, fillInStackTrace, getCause, getLocalizedMessage, getMessage, getStackTrace, getSuppressed, initCause, printStackTrace, printStackTrace, printStackTrace, setStackTrace, toString

Methods inherited from class Object

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

Constructor Details

DifferentialMechanismConfigurationException

public DifferentialMechanismConfigurationException(String message,
 String result,
 String remedyFunction)

Differential Mechanism configuration exception.

Parameters:

message - Message to display.

result - Result of the configuration.

remedyFunction - Remedy function to use.