Package yams.mechanisms.config

Class FlyWheelConfig

java.lang.Object

yams.mechanisms.config.FlyWheelConfig

public class FlyWheelConfig
extends Object

FlyWheel configuration class.

Field Summary

Fields

Modifier and Type	Field	Description
protected Optional<String>	networkTableName	The network root of the mechanism (Optional).

Constructor Summary

Constructors

Constructor	Description
FlyWheelConfig()	FlyWheel configuration class.
FlyWheelConfig(SmartMotorController motorController)	Arm Configuration class

Method Summary

Modifier and Type	Method	Description
boolean	applyConfig()	Apply config changes from this class to the SmartMotorController
FlyWheelConfig	clone()
FlyWheelConfig	disableSpeedometerSimulation()	Disable the use of the speedometer simulation for the shooter.
Optional<Distance>	getLength()	Get the Length of the FlyWheel
Optional<AngularVelocity>	getLowerSoftLimit()	Get the lower soft limit of the shooter.
MechanismPositionConfig	getMechanismPositionConfig()	Get the MechanismPositionConfig associated with this FlyWheelConfig.
double	getMOI()	Get the moment of inertia for the FlyWheel simulation.
SmartMotorController	getMotor()	Get the SmartMotorController of the FlyWheel
Color8Bit	getSimColor()	Get sim color
Optional<AngularVelocity>	getSpeedometerMaxVelocity()	Get the maximum velocity of the speedometer simulation.
Optional<String>	getTelemetryName()	Network Tables name for the FlyWheel
Optional<String>	getTelemetryNetworkTableName()	Deprecated.
Optional<SmartMotorControllerConfig.TelemetryVerbosity>	getTelemetryVerbosity()	Get the telemetry verbosity of the FlyWheel
Optional<AngularVelocity>	getUpperSoftLimit()	Get the upper soft limit for the shooter.
boolean	isUsingSpeedometerSimulation()	Check if the shooter is using the speedometer simulation.
FlyWheelConfig	withDiameter(Distance distance)	Configure the FlyWheels diameter for simulation.
FlyWheelConfig	withLowerSoftLimit(AngularVelocity speed)	Set the minimum velocity of the shooter.
FlyWheelConfig	withMass(Mass mass)	Configure the FlyWheels Mass for simulation.
FlyWheelConfig	withMechanismPositionConfig(MechanismPositionConfig mechanismPositionConfig)	Set the shooter mechanism position configuration.
FlyWheelConfig	withMOI(double MOI)	Configure the MOI directly instead of estimating it with the length and mass of the FlyWheel for simulation.
FlyWheelConfig	withMOI(Distance length, Mass weight)	Configure the MOI directly instead of estimating it with the length and mass of the FlyWheel for simulation.
FlyWheelConfig	withSimColor(Color8Bit simColor)	Publish the color in sim as this.
FlyWheelConfig	withSmartMotorController(SmartMotorController motorController)	Set the SmartMotorController for the FlyWheel
FlyWheelConfig	withSoftLimit(AngularVelocity low, AngularVelocity high)	Set the shooter soft limits.
FlyWheelConfig	withSpeedometerSimulation()	Enables the use of the speedometer simulation for the shooter.
FlyWheelConfig	withSpeedometerSimulation(AngularVelocity maxVelocity)	Enables the use of the speedometer simulation for the shooter.
FlyWheelConfig	withTelemetry(String networkRoot, String telemetryName, SmartMotorControllerConfig.TelemetryVerbosity telemetryVerbosity)	Deprecated.
FlyWheelConfig	withTelemetry(String telemetryName, SmartMotorControllerConfig.TelemetryVerbosity telemetryVerbosity)	Configure telemetry for the FlyWheel mechanism.
FlyWheelConfig	withUpperSoftLimit(AngularVelocity speed)	Set the maximum velocity of the shooter.

Methods inherited from class java.lang.Object

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

Field Details

networkTableName

protected Optional<String> networkTableName

The network root of the mechanism (Optional).

Constructor Details

FlyWheelConfig

public FlyWheelConfig(SmartMotorController motorController)

Arm Configuration class

Parameters:

motorController - Primary SmartMotorController for the FlyWheel

FlyWheelConfig

public FlyWheelConfig()

FlyWheel configuration class.

Implementation Note:

Required to call withSmartMotorController(SmartMotorController) before this is used with an FlyWheel

Method Details

clone

public FlyWheelConfig clone()

Overrides:

clone in class Object

withSmartMotorController

public FlyWheelConfig withSmartMotorController(SmartMotorController motorController)

Set the SmartMotorController for the FlyWheel

Parameters:

motorController - Primary SmartMotorController for the FlyWheel

Returns:

FlyWheelConfig for chaining.

withLowerSoftLimit

public FlyWheelConfig withLowerSoftLimit(AngularVelocity speed)

Set the minimum velocity of the shooter. Also updates the speedometer simulation max velocity

Parameters:

speed - Minimum velocity of the shooter.

Returns:

FlyWheelConfig for chaining

withUpperSoftLimit

public FlyWheelConfig withUpperSoftLimit(AngularVelocity speed)

Set the maximum velocity of the shooter. Also updates the speedometer simulation max velocity

Parameters:

speed - Maximum velocity of the shooter.

Returns:

FlyWheelConfig for chaining.

withSoftLimit

public FlyWheelConfig withSoftLimit(AngularVelocity low,
 AngularVelocity high)

Set the shooter soft limits.

Parameters:

low - Minimum velocity of the shooter.

high - Maximum velocity of the shooter.

Returns:

FlyWheelConfig for chaining.

withSpeedometerSimulation

public FlyWheelConfig withSpeedometerSimulation(AngularVelocity maxVelocity)

Enables the use of the speedometer simulation for the shooter.

The speedometer simulation is a simulation of a speedometer that is used to simulate the behavior of the shooter. This is useful for testing and debugging the shooter without having to physically move it.

Parameters:

maxVelocity - The maximum velocity of the shooter.

Returns:

FlyWheelConfig for chaining.

withSpeedometerSimulation

public FlyWheelConfig withSpeedometerSimulation()

Enables the use of the speedometer simulation for the shooter.

The speedometer simulation is a simulation of a speedometer that is used to simulate the behavior of the shooter. This is useful for testing and debugging the shooter without having to physically move it.

Returns:

FlyWheelConfig for chaining.

disableSpeedometerSimulation

public FlyWheelConfig disableSpeedometerSimulation()

Disable the use of the speedometer simulation for the shooter.

The speedometer simulation is a simulation of a speedometer that is used to simulate the behavior of the shooter. This is useful for testing and debugging the shooter without having to physically move it.

Returns:

FlyWheelConfig for chaining.

isUsingSpeedometerSimulation

public boolean isUsingSpeedometerSimulation()

Check if the shooter is using the speedometer simulation.

The speedometer simulation is a simulation of the speedometer that is used to simulate the behavior of the shooter. This is useful for testing and debugging the shooter without having to physically move it.

Returns:

True if the shooter is using the speedometer simulation.

getSpeedometerMaxVelocity

public Optional<AngularVelocity> getSpeedometerMaxVelocity()

Get the maximum velocity of the speedometer simulation.

If the speedometer simulation is not enabled, this will return an empty Optional.

Returns:

The maximum velocity of the speedometer simulation, or an empty Optional if the speedometer simulation is not enabled.

withSimColor

public FlyWheelConfig withSimColor(Color8Bit simColor)

Publish the color in sim as this.

Parameters:

simColor - Color8Bit to show.

Returns:

FlyWheelConfig for chaining.

withMOI

public FlyWheelConfig withMOI(double MOI)

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

Parameters:

MOI - Moment of Inertia of the FlyWheel

Returns:

FlyWheelConfig for chaining.

withMOI

public FlyWheelConfig withMOI(Distance length,
 Mass weight)

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

Parameters:

length - Length of the FlyWheel.

weight - Weight of the FlyWheel

Returns:

FlyWheelConfig for chaining.

withDiameter

public FlyWheelConfig withDiameter(Distance distance)

Configure the FlyWheels diameter for simulation.

Parameters:

distance - Length of the FlyWheel.

Returns:

FlyWheelConfig for chaining.

withMass

public FlyWheelConfig withMass(Mass mass)

Configure the FlyWheels Mass for simulation.

Parameters:

mass - Mass of the FlyWheel

Returns:

FlyWheelConfig for chaining.

withMechanismPositionConfig

public FlyWheelConfig withMechanismPositionConfig(MechanismPositionConfig mechanismPositionConfig)

Set the shooter mechanism position configuration.

Parameters:

mechanismPositionConfig - MechanismPositionConfig for the FlyWheel

Returns:

FlyWheelConfig for chaining

withTelemetry

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

Configure telemetry for the FlyWheel mechanism.

Parameters:

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

telemetryVerbosity - Telemetry verbosity to apply.

Returns:

FlyWheelConfig for chaining.

withTelemetry

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

Deprecated.

Configure telemetry for the FlyWheel mechanism.

Parameters:

networkRoot - Telemetry NetworkTable

telemetryName - Telemetry NetworkTable name to appear under _networkTableName_

telemetryVerbosity - Telemetry verbosity to apply.

Returns:

FlyWheelConfig for chaining.

applyConfig

public boolean applyConfig()

Apply config changes from this class to the SmartMotorController

Returns:

SmartMotorController.applyConfig(SmartMotorControllerConfig) result.

getLength

public Optional<Distance> getLength()

Get the Length of the FlyWheel

Returns:

Distance of the Arm.

getMOI

public double getMOI()

Get the moment of inertia for the FlyWheel simulation.

Returns:

Moment of Inertia.

getTelemetryVerbosity

public Optional<SmartMotorControllerConfig.TelemetryVerbosity> getTelemetryVerbosity()

Get the telemetry verbosity of the FlyWheel

Returns:

SmartMotorControllerConfig.TelemetryVerbosity of the FlyWheel

getUpperSoftLimit

public Optional<AngularVelocity> getUpperSoftLimit()

Get the upper soft limit for the shooter.

Returns:

Maximum velocity of the shooter.

getLowerSoftLimit

public Optional<AngularVelocity> getLowerSoftLimit()

Get the lower soft limit of the shooter.

Returns:

Minimum velocity of the shooter.

getTelemetryName

public Optional<String> getTelemetryName()

Network Tables name for the FlyWheel

Returns:

Network Tables name.

getMotor

public SmartMotorController getMotor()

Get the SmartMotorController of the FlyWheel

Returns:

SmartMotorController for the FlyWheel

getSimColor

public Color8Bit getSimColor()

Get sim color

Returns:

sim color.

getMechanismPositionConfig

public MechanismPositionConfig getMechanismPositionConfig()

Get the MechanismPositionConfig associated with this FlyWheelConfig.

Returns:

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

getTelemetryNetworkTableName

@Deprecated
public Optional<String> getTelemetryNetworkTableName()

Deprecated.

Get the telemetry network subtable of the mechanism.

Returns:

Optional containing the telemetry network subtable if set, otherwise an empty Optional.