Class SmartPositionalMechanism

java.lang.Object

yams.core.mechanisms.SmartMechanism

yams.core.mechanisms.positional.SmartPositionalMechanism

Direct Known Subclasses:

Arm, DifferentialMechanism, DoubleJointedArm, Elevator, Pivot

public abstract class SmartPositionalMechanism
extends SmartMechanism

Abstract intermediate base class for all closed-loop positional mechanisms in YAMS.

SmartPositionalMechanism sits between SmartMechanism and the concrete positional mechanism implementations such as Arm, Elevator, Pivot, and DifferentialMechanism. It provides the shared infrastructure required for closed-loop position control:

• Setpoint management via SmartMechanism.setMechanismPositionSetpoint(Angle) and SmartMechanism.setMeasurementPositionSetpoint(Distance)
• Position-based Trigger factories (near(), gte(), lte(), between(), max(), min()) defined by each concrete subclass
• Command factories such as setAngle() and setHeight() defined by each concrete subclass, which internally call SmartMechanism.setMechanismPositionSetpoint(Angle) or SmartMechanism.setMeasurementPositionSetpoint(Distance)
• A 2D visualization model via MechanismRoot2d and MechanismLigament2d fields that subclasses populate and update

Concrete mechanisms extend this class and supply the physics-specific details: how to read the current position, how to drive the simulation model, and how to update visualization and telemetry. The setpoint infrastructure and WPILib subsystem integration live here so that all positional mechanisms share a consistent, command-based API without code duplication.

Conceptual subclass pattern: A concrete positional mechanism extends SmartPositionalMechanism, provides a typed command factory, and calls into the base-class setpoint methods:

// A concrete mechanism delegates setpoint management to this base class:
public Command setAngle(Angle target) {
    return Commands.startRun(
        () -> setMechanismPositionSetpoint(target),
        () -> {},
        m_subsystem
    ).withName(getName() + " SetAngle");
}

For Subclass Authors

Every concrete subclass of SmartPositionalMechanism must implement the following abstract methods inherited from SmartMechanism:

• SmartMechanism.getPose3d() returns the mechanism's pose relative to the robot, for an AdvantageScope robot model
• SmartMechanism.visualizationUpdate() updates m_mechanismLigament (and any setpoint ligament) to reflect the current state
• SmartMechanism.getName() returns a human-readable mechanism name used for telemetry and command names
• SmartMechanism.simIterate() advances the physics simulation model and writes back simulated encoder values each robot loop
• SmartMechanism.updateTelemetry() publishes mechanism state to NetworkTables or an equivalent telemetry sink
• isAtMax() true when the mechanism reaches its configured maximum limit
• isAtMin() true when the mechanism reaches its configured minimum limit

Field Summary

Fields

Modifier and Type	Field	Description
protected org.wpilib.smartdashboard.MechanismLigament2d	m_mechanismLigament	The ligament that is being moved.
protected org.wpilib.smartdashboard.MechanismRoot2d	m_mechanismRoot	The root point of the Mechanism.

Fields inherited from class SmartMechanism

m_mechanismWindow, m_smc, m_telemetry

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	SmartPositionalMechanism()	Create the positional mechanism, subclasses set up the motor and telemetry.

Method Summary

Modifier and Type	Method	Description
org.wpilib.smartdashboard.MechanismLigament2d	getMechanismLigament()	Get the ligament of the 2D mechanism model.
org.wpilib.smartdashboard.MechanismRoot2d	getMechanismRoot()	The root of the 2D mechanism model.
SmartMotorController	getMotor()	Get the motor controller which is moving the mechanism.
abstract boolean	isAtMax()	SmartPositionalMechanism is at max, defined by the soft limit or hard limit on the SmartPositionalMechanism.
abstract boolean	isAtMin()	Minimum angle of the SmartPositionalMechanism given by the soft limit or hard limit of the SmartPositionalMechanism.

Methods inherited from class SmartMechanism

getMeasurementSetpoint, getMechanismSetpoint, getMechanismWindow, getMotorController, getName, getPose3d, publishMechanismWindow, setDutyCycleSetpoint, setMeasurementPositionSetpoint, setMeasurementVelocitySetpoint, setMechanismPositionSetpoint, setMechanismVelocitySetpoint, setVoltageSetpoint, simIterate, updateTelemetry, visualizationUpdate

Methods inherited from class Object

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

Field Details

m_mechanismRoot

protected org.wpilib.smartdashboard.MechanismRoot2d m_mechanismRoot

The root point of the Mechanism.

m_mechanismLigament

protected org.wpilib.smartdashboard.MechanismLigament2d m_mechanismLigament

The ligament that is being moved.

Constructor Details

SmartPositionalMechanism

protected SmartPositionalMechanism()

Create the positional mechanism, subclasses set up the motor and telemetry.

Method Details

isAtMax

public abstract boolean isAtMax()

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

Returns:

True if the mechanism is at its configured maximum.

isAtMin

public abstract boolean isAtMin()

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

Returns:

True if the mechanism is at its configured minimum.

getMechanismLigament

public org.wpilib.smartdashboard.MechanismLigament2d getMechanismLigament()

Get the ligament of the 2D mechanism model. Used to change the position of the mechanism model in the SmartDashboard.

Returns:

Ligament of the 2D mechanism model.

getMechanismRoot

public org.wpilib.smartdashboard.MechanismRoot2d getMechanismRoot()

The root of the 2D mechanism model.

Returns:

Root of the 2D mechanism model.

getMotor

public SmartMotorController getMotor()

Get the motor controller which is moving the mechanism.

Returns:

Motor controller which is moving the mechanism.