Package yams.mechanisms

Class SmartMechanism

java.lang.Object

yams.mechanisms.SmartMechanism

Direct Known Subclasses:

SmartPositionalMechanism, SmartVelocityMechanism

public abstract class SmartMechanism
extends Object

Generic implementation of a mechanism with advanced telemetry.

Field Summary

Fields

Modifier and Type	Field	Description
protected Mechanism2d	m_mechanismWindow	Mechanism Window.
protected SmartMotorController	m_smc	Motor for the subsystem.
protected Subsystem	m_subsystem	Subsystem for the Mechanism.
protected MechanismTelemetry	m_telemetry	Mechanism telemetry.

Constructor Summary

Constructors

Constructor	Description
SmartMechanism()

Method Summary

Modifier and Type	Method	Description
static GearBox	gearbox(double... reductionStages)	Deprecated, for removal: This API element is subject to removal in a future version. Use GearBox.fromReductionStages(double...) instead.
static GearBox	gearbox(String... reductionStages)	Deprecated, for removal: This API element is subject to removal in a future version. Use GearBox.fromStages(String...) instead.
static MechanismGearing	gearing(GearBox gearBox)	Deprecated, for removal: This API element is subject to removal in a future version. Use MechanismGearing instead.
static MechanismGearing	gearing(GearBox gearBox, Sprocket sprocket)	Deprecated, for removal: This API element is subject to removal in a future version. Use MechanismGearing(GearBox, Sprocket) instead.
Optional<Angle>	getMechanismSetpoint()	Get the SmartMechanism's setpoint as an Angle if it exists.
Mechanism2d	getMechanismWindow()	Get the Mechanism2d for the mechanism.
SmartMotorController	getMotorController()	Get the SmartMotorController
abstract String	getName()	Get the name of the mechanism.
abstract Translation3d	getRelativeMechanismPosition()	Get the Translation3d of the mechanism using Mechanism2d coordinates.
Command	set(double dutycycle)	Set the DutyCycle of the SmartMotorController.
Command	set(Supplier<Double> dutycycle)	Set the DutyCycle of the SmartMotorController.
Command	setVoltage(Voltage volts)	Set the voltage of the SmartMotorController.
Command	setVoltage(Supplier<Voltage> volts)	Set the voltage of the SmartMotorController.
abstract void	simIterate()	Iterate sim
static Sprocket	sprocket(double... sprocketReductionStages)	Deprecated, for removal: This API element is subject to removal in a future version. Use Sprocket.fromStages(String...) instead.
static Sprocket	sprocket(String... sprocketReductionStages)	Deprecated, for removal: This API element is subject to removal in a future version. Use Sprocket.fromStages(String...) instead.
abstract void	updateTelemetry()	Update the mechanism's telemetry.
abstract void	visualizationUpdate()	Update the mechanism's visualization state.

Methods inherited from class java.lang.Object

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

Field Details

m_subsystem

protected Subsystem m_subsystem

Subsystem for the Mechanism.

m_smc

protected SmartMotorController m_smc

Motor for the subsystem.

m_telemetry

protected MechanismTelemetry m_telemetry

Mechanism telemetry.

m_mechanismWindow

protected Mechanism2d m_mechanismWindow

Mechanism Window.

Constructor Details

SmartMechanism

public SmartMechanism()

Method Details

sprocket

@Deprecated(forRemoval=true)
public static Sprocket sprocket(double... sprocketReductionStages)

Deprecated, for removal: This API element is subject to removal in a future version.

Use Sprocket.fromStages(String...) instead.

Create the Sprocket class easily for use within the mechanism.

Parameters:

sprocketReductionStages - Teeth of each sprocket in the chain, in the format of "IN:OUT" => IN/OUT.

Returns:

Sprocket representing the sprocketReductionStages given.

sprocket

@Deprecated(forRemoval=true)
public static Sprocket sprocket(String... sprocketReductionStages)

Deprecated, for removal: This API element is subject to removal in a future version.

Use Sprocket.fromStages(String...) instead.

Create the Sprocket class easily for use within the mechanism.

Parameters:

sprocketReductionStages - Teeth of each sprocket in the chain in the format of "IN:OUT".

Returns:

Sprocket representing the sprocketReductionStages given.

gearbox

@Deprecated(forRemoval=true)
public static GearBox gearbox(String... reductionStages)

Deprecated, for removal: This API element is subject to removal in a future version.

Use GearBox.fromStages(String...) instead.

Create the GearBox for MechanismGearing

Parameters:

reductionStages - Reduction stages in the gear box in the format of "IN:OUT"

Returns:

GearBox for use in MechanismGearing;

gearbox

@Deprecated(forRemoval=true)
public static GearBox gearbox(double... reductionStages)

Deprecated, for removal: This API element is subject to removal in a future version.

Use GearBox.fromReductionStages(double...) instead.

Create the GearBox for MechanismGearing.

Parameters:

reductionStages - Reduction stages in the gear box, where "IN:OUT" => IN/OUT.

Returns:

GearBox for use in MechanismGearing;

gearing

@Deprecated(forRemoval=true)
public static MechanismGearing gearing(GearBox gearBox,
 Sprocket sprocket)

Deprecated, for removal: This API element is subject to removal in a future version.

Use MechanismGearing(GearBox, Sprocket) instead.

Create MechanismGearing with the given GearBox and Sprocket

Parameters:

gearBox - GearBox created using gearbox(double...).

sprocket - Sprocket created using sprocket(double...).

Returns:

MechanismGearing with the GearBox and Sprocket.

gearing

@Deprecated(forRemoval=true)
public static MechanismGearing gearing(GearBox gearBox)

Deprecated, for removal: This API element is subject to removal in a future version.

Use MechanismGearing instead.

Create MechanismGearing with the given GearBox.

Parameters:

gearBox - GearBox created using gearbox(double...).

Returns:

MechanismGearing with the GearBox.

set

public Command set(double dutycycle)

Set the DutyCycle of the SmartMotorController.

Parameters:

dutycycle - [-1,1] to set.

Returns:

Command

set

public Command set(Supplier<Double> dutycycle)

Set the DutyCycle of the SmartMotorController.

Parameters:

dutycycle - [-1,1] to set via an Supplier.

Returns:

Command

setVoltage

public Command setVoltage(Voltage volts)

Set the voltage of the SmartMotorController.

Parameters:

volts - Voltage of the SmartMotorController to set.

Returns:

Command

setVoltage

public Command setVoltage(Supplier<Voltage> volts)

Set the voltage of the SmartMotorController.

Parameters:

volts - Voltage of the SmartMotorController to set, via a Supplier.

Returns:

Command

getMotorController

public SmartMotorController getMotorController()

Get the SmartMotorController

Returns:

SmartMotorController for the mechanism.

getMechanismSetpoint

public Optional<Angle> getMechanismSetpoint()

Get the SmartMechanism's setpoint as an Angle if it exists.

Returns:

Optional setpoint Angle of the mechanism..

simIterate

public abstract void simIterate()

Iterate sim

updateTelemetry

public abstract void updateTelemetry()

Update the mechanism's telemetry.

getMechanismWindow

public Mechanism2d getMechanismWindow()

Get the Mechanism2d for the mechanism.

Returns:

Mechanism2d for the mechanism.

visualizationUpdate

public abstract void visualizationUpdate()

Update the mechanism's visualization state.

getRelativeMechanismPosition

public abstract Translation3d getRelativeMechanismPosition()

Get the Translation3d of the mechanism using Mechanism2d coordinates.

Returns:

Translation3d of the mechanism.

getName

public abstract String getName()

Get the name of the mechanism.

Returns:

String name.