Class Arm

java.lang.Object

yams.core.mechanisms.SmartMechanism

yams.core.mechanisms.positional.SmartPositionalMechanism

yams.core.mechanisms.positional.Arm

Direct Known Subclasses:

Arm, Arm

public class Arm
extends SmartPositionalMechanism

Arm mechanism.

This core class holds arm state, physics simulation, and measurement/predicate logic only. Command and Trigger factories (setAngle, run, runTo, near, max, min, ...) live on Arm, which extends this class and has a full usage example in its Javadoc.

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

Modifier	Constructor	Description
protected	Arm(ArmConfig config, SmartMotorController smc)	Constructor for the Arm mechanism.

Method Summary

Modifier and Type	Method	Description
org.wpilib.units.measure.Angle	getAngle()	Get the SmartMotorController Mechanism Position representing the arm.
ArmConfig	getArmConfig()	Get the ArmConfig for this Arm.
String	getName()	Get the name of the mechanism.
org.wpilib.math.geometry.Pose3d	getPose3d()	Get the arm's pose, for publishing to AdvantageScope as a component of a robot model: where it is mounted, as set in its MechanismPositionConfig, turned to the arm's angle about the axis normal to its movement plane.
boolean	isAtMax()	Whether the arm is at or above its maximum angle, defined by the motor controller upper soft limit if present, otherwise the arm upper hard limit.
boolean	isAtMin()	Whether the arm is at or below its minimum angle, defined by the motor controller lower soft limit if present, otherwise the arm lower hard limit.
boolean	isBetween(org.wpilib.units.measure.Angle start, org.wpilib.units.measure.Angle end)	Between two angles.
boolean	isGte(org.wpilib.units.measure.Angle angle)	Greater than or equal to angle.
boolean	isLte(org.wpilib.units.measure.Angle angle)	Less than or equal to angle
boolean	isNear(org.wpilib.units.measure.Angle angle, org.wpilib.units.measure.Angle within)	Arm is near an angle.
void	simIterate()	Iterate sim
void	updateTelemetry()	Update the mechanism's telemetry.
void	visualizationUpdate()	Updates the mechanism ligament with the current angle of the arm.

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

Constructor Details

Arm

protected Arm(ArmConfig config,
 SmartMotorController smc)

Constructor for the Arm mechanism.

Parameters:

config - ArmConfig to use.

smc - SmartMotorController for the Arm.

Throws:

ArmConfigurationException - if running in simulation and the arm length is not set.

ArmConfigurationException - if running in simulation and the lower or upper hard limit is not set.

ArmConfigurationException - if running in simulation and neither a starting position nor an external encoder zero offset is set on the SmartMotorControllerConfig.

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

Implementation Note:

Protected so only Arm can construct this.

Method Details

updateTelemetry

public void updateTelemetry()

Description copied from class: SmartMechanism

Update the mechanism's telemetry.

Specified by:

updateTelemetry in class SmartMechanism

simIterate

public void simIterate()

Description copied from class: SmartMechanism

Iterate sim

Specified by:

simIterate in class SmartMechanism

visualizationUpdate

public void visualizationUpdate()

Updates the mechanism ligament with the current angle of the arm.

Specified by:

visualizationUpdate in class SmartMechanism

See Also:

• SmartMechanism.visualizationUpdate()

getPose3d

public org.wpilib.math.geometry.Pose3d getPose3d()

Get the arm's pose, for publishing to AdvantageScope as a component of a robot model: where it is mounted, as set in its MechanismPositionConfig, turned to the arm's angle about the axis normal to its movement plane.

Specified by:

getPose3d in class SmartMechanism

Returns:

The arm's Pose3d, relative to the robot.

getName

public String getName()

Description copied from class: SmartMechanism

Get the name of the mechanism.

Specified by:

getName in class SmartMechanism

Returns:

String name.

getAngle

public org.wpilib.units.measure.Angle getAngle()

Get the SmartMotorController Mechanism Position representing the arm.

Returns:

Arm Angle

isNear

public boolean isNear(org.wpilib.units.measure.Angle angle,
 org.wpilib.units.measure.Angle within)

Arm is near an angle.

Parameters:

angle - Angle to be near.

within - Angle within.

Returns:

True if the arm is near the given angle.

isAtMax

public boolean isAtMax()

Whether the arm is at or above its maximum angle, defined by the motor controller upper soft limit if present, otherwise the arm upper hard limit.

Specified by:

isAtMax in class SmartPositionalMechanism

Returns:

True if the arm is at its configured maximum.

Throws:

ArmConfigurationException - if neither a motor controller upper soft limit nor an arm upper hard limit is configured.

isAtMin

public boolean isAtMin()

Whether the arm is at or below its minimum angle, defined by the motor controller lower soft limit if present, otherwise the arm lower hard limit.

Specified by:

isAtMin in class SmartPositionalMechanism

Returns:

True if the arm is at its configured minimum.

Throws:

ArmConfigurationException - if neither a motor controller lower soft limit nor an arm lower hard limit is configured.

isBetween

public boolean isBetween(org.wpilib.units.measure.Angle start,
 org.wpilib.units.measure.Angle end)

Between two angles.

Parameters:

start - Start angle.

end - End angle

Returns:

True if the arm is between the given angles.

isLte

public boolean isLte(org.wpilib.units.measure.Angle angle)

Less than or equal to angle

Parameters:

angle - Angle to check against

Returns:

True if the arm's angle is less than or equal to the given angle.

isGte

public boolean isGte(org.wpilib.units.measure.Angle angle)

Greater than or equal to angle.

Parameters:

angle - Angle to check against.

Returns:

True if the arm's angle is greater than or equal to the given angle.

getArmConfig

public ArmConfig getArmConfig()

Get the ArmConfig for this Arm.

Returns:

The ArmConfig used to configure this Arm.