Package yams.mechanisms.config

Class DifferentialMechanismConfig

java.lang.Object

yams.mechanisms.config.DifferentialMechanismConfig

public class DifferentialMechanismConfig
extends Object

Differential Mechanism config.

Field Summary

Fields

Modifier and Type	Field	Description
protected Optional<String>	networkRoot	Deprecated.

Constructor Summary

Constructors

Constructor	Description
DifferentialMechanismConfig()	Differential Mechanism configuration class.
DifferentialMechanismConfig(SmartMotorController left, SmartMotorController right)	Differential Mechanism configuration class.

Method Summary

Modifier and Type	Method	Description
boolean	applyConfig()	Apply config changes from this class to the SmartMotorController
DifferentialMechanismConfig	clone()
Angle	getLeftMechanismPosition(Angle tilt, Angle twist)	The left SmartMotorController mechanism position.
SmartMotorController	getLeftMotorController()	Get the left SmartMotorController of the DifferentialMechanism
Optional<Distance>	getLength()	Get the length of the DifferentialMechanism
MechanismPositionConfig	getMechanismPositionConfig()	Get the MechanismPositionConfig associated with this DifferentialMechanismConfig.
double	getMOI()	Get the moment of inertia for the DifferentialMechanism simulation.
Optional<String>	getNetworkRoot()	Deprecated.
Angle	getRightMechanismPosition(Angle tilt, Angle twist)	The right SmartMotorController mechanism position.
SmartMotorController	getRightMotorController()	Get the right SmartMotorController of the DifferentialMechanism
Color8Bit	getSimColor()	Sim color value
Optional<Angle>	getStartingTiltAngle()	Get starting tilt Angle.
Optional<Angle>	getStartingTwistAngle()	Get starting twist Angle.
Optional<String>	getTelemetryName()	Network Tables name for the Pivot
Optional<SmartMotorControllerConfig.TelemetryVerbosity>	getTelemetryVerbosity()	Get the telemetry verbosity of the Pivot
Angle	getTiltAngle(Angle leftMechPos, Angle rightMechPos)	Get the tilt angle of the DifferentialMechanism.
Optional<Supplier<Angle>>	getTiltAngleSupplier()	Get the angle supplier for the attached absolute encoder, if it exists.
Optional<Angle>	getTiltStartingAngle()	Get the starting angle of the DifferentialMechanism tilt.
Angle	getTwistAngle(Angle leftMechPos, Angle rightMechPos)	Get the twist angle of the DifferentialMechanism with any additional twist gearing.
Optional<Supplier<Angle>>	getTwistAngleSupplier()	Get the angle supplier for the attached absolute encoder, if it exists.
MechanismGearing	getTwistGearing()	The gearing for the twist in the DifferentialMechanism
Optional<Angle>	getTwistStartingAngle()	Get the starting angle of the DifferentialMechanism twist.
DifferentialMechanismConfig	withAngleSuppliers(Supplier<Angle> twistSupplier, Supplier<Angle> tiltSupplier)	Setup suppliers for absolute encoders on the DifferentialMechanism
DifferentialMechanismConfig	withGearing(MechanismGearing gearing)	Aet the gearing for the differential mechanism if it isnt 1:1.
DifferentialMechanismConfig	withLength(Distance length)	Set the length of the DifferentialMechanism.
DifferentialMechanismConfig	withMechanismPositionConfig(MechanismPositionConfig mechanismPositionConfig)	Set the differential mechanism position configuration.
DifferentialMechanismConfig	withMOI(double MOI)	Configure the MOI directly instead of estimating it with the length and mass of the DifferentialMechanism for simulation.
DifferentialMechanismConfig	withMOI(Distance length, Mass weight)	Configure the MOI directly instead of estimating it with the length and mass of the DifferentialMechanism for simulation.
DifferentialMechanismConfig	withSimColor(Color8Bit simColor)	Publish the color in sim as this.
DifferentialMechanismConfig	withSmartMotorControllers(SmartMotorController left, SmartMotorController right)	Add the smart motor controllers to the configuration.
DifferentialMechanismConfig	withStartingPosition(Angle tilt, Angle twist)	Set the DifferentialMechanism starting positions.
DifferentialMechanismConfig	withTelemetry(String telemetryName, SmartMotorControllerConfig.TelemetryVerbosity telemetryVerbosity)	Configure telemetry for the Pivot mechanism.
DifferentialMechanismConfig	withTiltStartingPosition(Angle startingPosition)	Set the DifferentialMechanism tilt starting position.
DifferentialMechanismConfig	withTwistStartingPosition(Angle startingPosition)	Set the DifferentialMechanism twist starting position.

Methods inherited from class java.lang.Object

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

Field Details

networkRoot

@Deprecated
protected Optional<String> networkRoot

Deprecated.

The network root of the mechanism (Optional).

Constructor Details

DifferentialMechanismConfig

public DifferentialMechanismConfig(SmartMotorController left,
 SmartMotorController right)

Differential Mechanism configuration class.

Parameters:

left - Left SmartMotorController configured with the gearing up to the tilt movement if synchronized.

right - Right SmartMotorController configured with the gearing up to the tilt movement if syncrhonized.

DifferentialMechanismConfig

public DifferentialMechanismConfig()

Differential Mechanism configuration class. Required call to withSmartMotorControllers(SmartMotorController, SmartMotorController) before usage.

Method Details

clone

public DifferentialMechanismConfig clone()

Overrides:

clone in class Object

withSmartMotorControllers

public DifferentialMechanismConfig withSmartMotorControllers(SmartMotorController left,
 SmartMotorController right)

Add the smart motor controllers to the configuration.

Parameters:

left - Left SmartMotorController

right - Right SmartMotorController

Returns:

DifferentialMechanismConfig for chaining.

getTwistAngle

public Angle getTwistAngle(Angle leftMechPos,
 Angle rightMechPos)

Get the twist angle of the DifferentialMechanism with any additional twist gearing.

Parameters:

leftMechPos - Left SmartMotorController Mechanism Position

rightMechPos - Right SmartMotorController Mechanism Position

Returns:

Twist Angle

getTiltAngle

public Angle getTiltAngle(Angle leftMechPos,
 Angle rightMechPos)

Get the tilt angle of the DifferentialMechanism.

Parameters:

leftMechPos - Left SmartMotorController Mechanism Position

rightMechPos - Right SmartMotorController Mechanism Position

Returns:

Tilt Angle

getLeftMechanismPosition

public Angle getLeftMechanismPosition(Angle tilt,
 Angle twist)

The left SmartMotorController mechanism position.

Parameters:

tilt - Angle of the Tilt.

twist - Angle of the twist.

Returns:

Left mechanism position Angle

getRightMechanismPosition

public Angle getRightMechanismPosition(Angle tilt,
 Angle twist)

The right SmartMotorController mechanism position.

Parameters:

tilt - Angle of the Tilt.

twist - Angle of the Twist.

Returns:

Right mechanism position Angle

withSimColor

public DifferentialMechanismConfig withSimColor(Color8Bit simColor)

Publish the color in sim as this.

Parameters:

simColor - Color8Bit to show.

Returns:

DifferentialMechanismConfig for chaining.

withMOI

public DifferentialMechanismConfig withMOI(double MOI)

Configure the MOI directly instead of estimating it with the length and mass of the DifferentialMechanism for simulation.

Parameters:

MOI - Moment of Inertia of the DifferentialMechanism

Returns:

DifferentialMechanismConfig for chaining.

withLength

public DifferentialMechanismConfig withLength(Distance length)

Set the length of the DifferentialMechanism.

Parameters:

length - Length of the DifferentialMechanism

Returns:

DifferentialMechanismConfig for chaining.

withMOI

public DifferentialMechanismConfig withMOI(Distance length,
 Mass weight)

Configure the MOI directly instead of estimating it with the length and mass of the DifferentialMechanism for simulation.

Parameters:

length - Length of the DifferentialMechanism.

weight - Weight of the DifferentialMechanism

Returns:

DifferentialMechanismConfig for chaining.

withTelemetry

public DifferentialMechanismConfig withTelemetry(String telemetryName,
 SmartMotorControllerConfig.TelemetryVerbosity telemetryVerbosity)

Configure telemetry for the Pivot mechanism.

Parameters:

telemetryName - Telemetry NetworkTable name to appear under "SmartDashboard/"

telemetryVerbosity - Telemetry verbosity to apply.

Returns:

DifferentialMechanismConfig for chaining.

withMechanismPositionConfig

public DifferentialMechanismConfig withMechanismPositionConfig(MechanismPositionConfig mechanismPositionConfig)

Set the differential mechanism position configuration.

Parameters:

mechanismPositionConfig - MechanismPositionConfig for the DifferentialMechanism

Returns:

DifferentialMechanismConfig for chaining

withGearing

public DifferentialMechanismConfig withGearing(MechanismGearing gearing)

Aet the gearing for the differential mechanism if it isnt 1:1. Separate from gearing to the bevel gears.

Parameters:

gearing - Gearing for the bevel gears.

Returns:

DifferentialMechanismConfig for chaining

withTwistStartingPosition

public DifferentialMechanismConfig withTwistStartingPosition(Angle startingPosition)

Set the DifferentialMechanism twist starting position.

Parameters:

startingPosition - Starting position of the DifferentialMechanism twist.

Returns:

DifferentialMechanismConfig for chaining

withAngleSuppliers

public DifferentialMechanismConfig withAngleSuppliers(Supplier<Angle> twistSupplier,
 Supplier<Angle> tiltSupplier)

Setup suppliers for absolute encoders on the DifferentialMechanism

Parameters:

twistSupplier - Supplier<Angle> for the twist.

tiltSupplier - Supplier<Angle> for the tilt.

Returns:

DifferentialMechanismConfig for chaining.

withStartingPosition

public DifferentialMechanismConfig withStartingPosition(Angle tilt,
 Angle twist)

Set the DifferentialMechanism starting positions.

Parameters:

tilt - Angle of the tilt.

twist - Angle of the twist.

Returns:

DifferentialMechanismConfig for chaining.

withTiltStartingPosition

public DifferentialMechanismConfig withTiltStartingPosition(Angle startingPosition)

Set the DifferentialMechanism tilt starting position.

Parameters:

startingPosition - Starting position of the DifferentialMechanism tilt.

Returns:

DifferentialMechanismConfig for chaining

applyConfig

public boolean applyConfig()

Apply config changes from this class to the SmartMotorController

Returns:

SmartMotorController.applyConfig(SmartMotorControllerConfig) result.

getMOI

public double getMOI()

Get the moment of inertia for the DifferentialMechanism simulation.

Returns:

Moment of Inertia.

getTelemetryVerbosity

public Optional<SmartMotorControllerConfig.TelemetryVerbosity> getTelemetryVerbosity()

Get the telemetry verbosity of the Pivot

Returns:

SmartMotorControllerConfig.TelemetryVerbosity of the Pivot

getTelemetryName

public Optional<String> getTelemetryName()

Network Tables name for the Pivot

Returns:

Network Tables name.

getTiltStartingAngle

public Optional<Angle> getTiltStartingAngle()

Get the starting angle of the DifferentialMechanism tilt.

Returns:

Angle of the DifferentialMechanism tilt.

getStartingTiltAngle

public Optional<Angle> getStartingTiltAngle()

Get starting tilt Angle.

Returns:

Tilt Angle.

getStartingTwistAngle

public Optional<Angle> getStartingTwistAngle()

Get starting twist Angle.

Returns:

Twist Angle.

getTwistStartingAngle

public Optional<Angle> getTwistStartingAngle()

Get the starting angle of the DifferentialMechanism twist.

Returns:

Angle of the DifferentialMechanism twist.

getTwistAngleSupplier

public Optional<Supplier<Angle>> getTwistAngleSupplier()

Get the angle supplier for the attached absolute encoder, if it exists.

Returns:

Angle supplier for the given absolute encoder attached to the twist.

getLength

public Optional<Distance> getLength()

Get the length of the DifferentialMechanism

Returns:

Distance of DifferentialMechanism

getTwistGearing

public MechanismGearing getTwistGearing()

The gearing for the twist in the DifferentialMechanism

Returns:

MechanismGearing of the twist.

getTiltAngleSupplier

public Optional<Supplier<Angle>> getTiltAngleSupplier()

Get the angle supplier for the attached absolute encoder, if it exists.

Returns:

Angle supplier for the given absolute encoder attached to the tilt.

getLeftMotorController

public SmartMotorController getLeftMotorController()

Get the left SmartMotorController of the DifferentialMechanism

Returns:

left SmartMotorController

getRightMotorController

public SmartMotorController getRightMotorController()

Get the right SmartMotorController of the DifferentialMechanism

Returns:

right SmartMotorController

getSimColor

public Color8Bit getSimColor()

Sim color value

Returns:

Sim color value

getMechanismPositionConfig

public MechanismPositionConfig getMechanismPositionConfig()

Get the MechanismPositionConfig associated with this DifferentialMechanismConfig.

Returns:

An Optional containing the MechanismPositionConfig if present, otherwise an empty Optional.

getNetworkRoot

@Deprecated
public Optional<String> getNetworkRoot()

Deprecated.

Get the network root of the mechanism.

Returns:

Optional containing the network root if set, otherwise an empty Optional.