Class DoubleJointedArmConfigurationException

java.lang.Object

java.lang.Throwable

java.lang.Exception

java.lang.RuntimeException

yams.core.exceptions.DoubleJointedArmConfigurationException

All Implemented Interfaces:

Serializable

public class DoubleJointedArmConfigurationException
extends RuntimeException

Thrown by DoubleJointedArm when a required field in the lower-joint or upper-joint ArmConfig is missing or invalid.

Common triggers include:

• The lower and upper joint motor controllers do not share the same WPILib Subsystem instance both must reference the same subsystem so that a single command can require it
• Starting angle missing on either joint config both the lower and upper ArmConfig must have a starting position set via SmartMotorControllerConfig.withStartingPosition(Angle)

Resolution: Ensure both joint configs supply motors via ArmConfig.withSmartMotorController(SmartMotorController), that both motors are bound to the same subsystem via SmartMotorControllerConfig.withSubsystem(Subsystem), and that both configs include SmartMotorControllerConfig.withStartingPosition(Angle).

Example minimal configuration:

ArmConfig lowerConfig = new ArmConfig()
    .withSmartMotorController(SmartMotorController.create(SPARK_MAX, DCMotor.getNEO(1),
lowerMotorCfg)); ArmConfig upperConfig = new ArmConfig()
    .withSmartMotorController(SmartMotorController.create(SPARK_MAX, DCMotor.getNEO(1),
upperMotorCfg)); DoubleJointedArm arm = new DoubleJointedArm(lowerConfig, upperConfig);

See Also:

• DoubleJointedArm
• ArmConfig
• Serialized Form

Constructor Summary

Constructors

Constructor	Description
DoubleJointedArmConfigurationException(String message, String result, String remedyFunction)	Arm 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

DoubleJointedArmConfigurationException

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

Arm configuration exception.

Parameters:

message - Message to display.

result - Result of the configuration.

remedyFunction - Remedy function to use.