Package yams.mechanisms.config

Class ElevatorConfig

java.lang.Object

yams.mechanisms.config.ElevatorConfig

public class ElevatorConfig
extends Object

Elevator configuration class.

Field Summary

Fields

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

Constructor Summary

Constructors

Constructor	Description
ElevatorConfig()	Elevator Configuration class
ElevatorConfig(SmartMotorController motorController)	Elevator Configuration class

Method Summary

Modifier and Type	Method	Description
boolean	applyConfig()	Apply config changes from this class to the SmartMotorController
ElevatorConfig	clone()
Angle	getAngle()	Get the Angle of the Elevator
Optional<Mass>	getCarriageMass()	Get the Mass of the Elevator carriage.
Distance	getDrumRadius()	Get the Elevator drum radius.
Optional<Distance>	getMaximumHeight()	Get the Upper hard limit of the Elevator.
MechanismPositionConfig	getMechanismPositionConfig()	Get the mechanism position configuration of the elevator.
Optional<Distance>	getMinimumHeight()	Get the lower hard limit of the Elevator
SmartMotorController	getMotor()	Get the SmartMotorController of the Elevator
Optional<String>	getNetworkRoot()	Deprecated.
Color8Bit	getSimColor()	Get sim color
Optional<Distance>	getStartingHeight()	Get the starting height of the Elevator
Optional<String>	getTelemetryName()	Network Tables name for the Elevator
Optional<SmartMotorControllerConfig.TelemetryVerbosity>	getTelemetryVerbosity()	Get the telemetry verbosity of the Elevator
ElevatorConfig	withAngle(Angle angle)	Configure the Elevators angle for simulation.
ElevatorConfig	withCascadingElevatorStages(int stages)	Change the SmartMotorControllerConfig gear ratio to be divided by the number of stages given, will reapply it if already done manually.
ElevatorConfig	withDrumRadius(Distance drumRadius)	Set the Elevator drum radius.
ElevatorConfig	withDrumRadius(Distance chainPitch, int teeth)	Set the Elevator drum radius via the chain pitch (.25in or .35in) and teeth count.
ElevatorConfig	withHardLimits(Distance min, Distance max)	Set the Hard Limits for simulation
ElevatorConfig	withMass(Mass mass)	Configure the Elevators Mass for simulation.
ElevatorConfig	withMechanismPositionConfig(MechanismPositionConfig mechanismPositionConfig)	Set the elevator mechanism position configuration.
ElevatorConfig	withSimColor(Color8Bit simColor)	Publish the color in sim as this.
ElevatorConfig	withSmartMotorController(SmartMotorController motorController)	Set the SmartMotorController for the Elevator
ElevatorConfig	withSoftLimits(Distance lowerLimit, Distance upperLimit)	Set the elevator soft limits.
ElevatorConfig	withStartingHeight(Distance startingPosition)	Set the elevator starting position.
ElevatorConfig	withTelemetry(String networkRoot, String telemetryName, SmartMotorControllerConfig.TelemetryVerbosity telemetryVerbosity)	Deprecated.
ElevatorConfig	withTelemetry(String telemetryName, SmartMotorControllerConfig.TelemetryVerbosity telemetryVerbosity)	Configure telemetry for the Elevator mechanism.

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

ElevatorConfig

public ElevatorConfig(SmartMotorController motorController)

Elevator Configuration class

Parameters:

motorController - Primary SmartMotorController for the Elevator

ElevatorConfig

public ElevatorConfig()

Elevator Configuration class

Implementation Note:

You are REQUIRED to call withSmartMotorController(SmartMotorController) before this is used with an Elevator

Method Details

clone

public ElevatorConfig clone()

Overrides:

clone in class Object

withSmartMotorController

public ElevatorConfig withSmartMotorController(SmartMotorController motorController)

Set the SmartMotorController for the Elevator

Parameters:

motorController - Primary SmartMotorController for the Elevator

Returns:

ElevatorConfig for chaining.

withDrumRadius

public ElevatorConfig withDrumRadius(Distance drumRadius)

Set the Elevator drum radius.

Parameters:

drumRadius - Elevator drum radius

Returns:

ElevatorConfig for chaining.

withDrumRadius

public ElevatorConfig withDrumRadius(Distance chainPitch,
 int teeth)

Set the Elevator drum radius via the chain pitch (.25in or .35in) and teeth count.

Parameters:

chainPitch - Chain pitch.

teeth - Sprocket teeth count.

Returns:

ElevatorConfig for chaining.

withSimColor

public ElevatorConfig withSimColor(Color8Bit simColor)

Publish the color in sim as this.

Parameters:

simColor - Color8Bit to show.

Returns:

ElevatorConfig for chaining.

withAngle

public ElevatorConfig withAngle(Angle angle)

Configure the Elevators angle for simulation.

Parameters:

angle - Angle of the Elevator.

Returns:

ElevatorConfig for chaining.

withMass

public ElevatorConfig withMass(Mass mass)

Configure the Elevators Mass for simulation.

Parameters:

mass - Mass of the Elevator

Returns:

ElevatorConfig for chaining.

withTelemetry

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

Configure telemetry for the Elevator mechanism.

Parameters:

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

telemetryVerbosity - Telemetry verbosity to apply.

Returns:

ElevatorConfig for chaining.

withTelemetry

@Deprecated
public ElevatorConfig withTelemetry(String networkRoot,
 String telemetryName,
 SmartMotorControllerConfig.TelemetryVerbosity telemetryVerbosity)

Deprecated.

Configure telemetry for the Arm mechanism.

Parameters:

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

telemetryVerbosity - Telemetry verbosity to apply.

networkRoot - Network root to publish the telemetry under.

Returns:

ElevatorConfig for chaining.

withCascadingElevatorStages

public ElevatorConfig withCascadingElevatorStages(int stages)

Change the SmartMotorControllerConfig gear ratio to be divided by the number of stages given, will reapply it if already done manually.

Parameters:

stages - Stages given

Returns:

ElevatorConfig for chaining.

withMechanismPositionConfig

public ElevatorConfig withMechanismPositionConfig(MechanismPositionConfig mechanismPositionConfig)

Set the elevator mechanism position configuration.

Parameters:

mechanismPositionConfig - MechanismPositionConfig for the Elevator

Returns:

ElevatorConfig for chaining

withStartingHeight

public ElevatorConfig withStartingHeight(Distance startingPosition)

Set the elevator starting position.

Parameters:

startingPosition - Starting position of the elevator.

Returns:

ElevatorConfig for chaining

withSoftLimits

public ElevatorConfig withSoftLimits(Distance lowerLimit,
 Distance upperLimit)

Set the elevator soft limits. When exceeded the power will be set to 0.

Parameters:

lowerLimit - Minimum distance of the elevator.

upperLimit - Maximum distance of the elevator.

Returns:

ElevatorConfig for chaining.

withHardLimits

public ElevatorConfig withHardLimits(Distance min,
 Distance max)

Set the Hard Limits for simulation

Parameters:

min - Height where the physical stop appears.

max - Height where the physical stop appears

Returns:

ElevatorConfig for chaining.

applyConfig

public boolean applyConfig()

Apply config changes from this class to the SmartMotorController

Returns:

SmartMotorController.applyConfig(SmartMotorControllerConfig) result.

getAngle

public Angle getAngle()

Get the Angle of the Elevator

Returns:

Angle of the Elevator.

getMaximumHeight

public Optional<Distance> getMaximumHeight()

Get the Upper hard limit of the Elevator.

Returns:

Distance hard limit.

getMinimumHeight

public Optional<Distance> getMinimumHeight()

Get the lower hard limit of the Elevator

Returns:

Distance hard limit.

getTelemetryVerbosity

public Optional<SmartMotorControllerConfig.TelemetryVerbosity> getTelemetryVerbosity()

Get the telemetry verbosity of the Elevator

Returns:

SmartMotorControllerConfig.TelemetryVerbosity of the Elevator

getTelemetryName

public Optional<String> getTelemetryName()

Network Tables name for the Elevator

Returns:

Network Tables name.

getStartingHeight

public Optional<Distance> getStartingHeight()

Get the starting height of the Elevator

Returns:

Distance of the Elevator

getMotor

public SmartMotorController getMotor()

Get the SmartMotorController of the Elevator

Returns:

SmartMotorController for the Elevator

getSimColor

public Color8Bit getSimColor()

Get sim color

Returns:

sim color

getDrumRadius

public Distance getDrumRadius()

Get the Elevator drum radius.

Returns:

Drum radius of the elevator.

getCarriageMass

public Optional<Mass> getCarriageMass()

Get the Mass of the Elevator carriage.

Returns:

Carriage mass.

getMechanismPositionConfig

public MechanismPositionConfig getMechanismPositionConfig()

Get the mechanism position configuration of the elevator.

Returns:

Optional containing the mechanism position configuration if set, 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.