Class SmartVelocityMechanism

java.lang.Object

yams.core.mechanisms.SmartMechanism

yams.core.mechanisms.velocity.SmartVelocityMechanism

Direct Known Subclasses:

FlyWheel

public abstract class SmartVelocityMechanism
extends SmartMechanism

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

Sits between SmartMechanism and concrete velocity mechanisms such as FlyWheel. Provides velocity setpoint management (SmartMechanism.setMechanismVelocitySetpoint(AngularVelocity) and SmartMechanism.setMeasurementVelocitySetpoint(LinearVelocity)) and a 2D visualization model that subclasses populate and update.

Command and Trigger factories live on the corresponding yams.commands2.mechanisms subclass, not here. Velocity mechanisms have no max()/min() concept.

For Subclass Authors

Every concrete subclass must implement these abstract methods inherited from SmartMechanism:

• SmartMechanism.getPose3d()
• SmartMechanism.visualizationUpdate()
• SmartMechanism.getName()
• SmartMechanism.simIterate()
• SmartMechanism.updateTelemetry()

Field Summary

Fields

Modifier and Type	Field	Description
protected org.wpilib.smartdashboard.MechanismLigament2d	mechanismLigament	The ligament that is being moved.
protected org.wpilib.smartdashboard.MechanismRoot2d	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	SmartVelocityMechanism()	Create the velocity 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.

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

mechanismRoot

protected org.wpilib.smartdashboard.MechanismRoot2d mechanismRoot

The root point of the Mechanism.

mechanismLigament

protected org.wpilib.smartdashboard.MechanismLigament2d mechanismLigament

The ligament that is being moved.

Constructor Details

SmartVelocityMechanism

protected SmartVelocityMechanism()

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

Method Details

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.