Package yams.mechanisms.config

Class PivotConfig

java.lang.Object

yams.mechanisms.config.PivotConfig

public class PivotConfig
extends Object

Pivot config.

Field Summary

Fields

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

Constructor Summary

Constructors

Constructor	Description
PivotConfig()	Pivot Configuration class
PivotConfig(PivotConfig cfg)	Copy constructor.
PivotConfig(SmartMotorController motorController)	Pivot Configuration class

Method Summary

Modifier and Type	Method	Description
boolean	applyConfig()	Apply config changes from this class to the SmartMotorController
PivotConfig	clone()
Optional<Angle>	getLowerHardLimit()	Get the lower hard limit of the Pivot
MechanismPositionConfig	getMechanismPositionConfig()	Get the MechanismPositionConfig associated with this PivotConfig.
double	getMOI()	Get the moment of inertia for the Pivot simulation.
SmartMotorController	getMotor()	Get the SmartMotorController of the Pivot
Optional<String>	getNetworkRoot()	Deprecated.
Color8Bit	getSimColor()	Sim color value
Optional<Angle>	getStartingAngle()	Get the starting angle of the Pivot
Optional<String>	getTelemetryName()	Network Tables name for the Pivot
Optional<SmartMotorControllerConfig.TelemetryVerbosity>	getTelemetryVerbosity()	Get the telemetry verbosity of the Pivot
Optional<Angle>	getUpperHardLimit()	Get the Upper hard limit of the Pivot.
PivotConfig	withHardLimit(Angle min, Angle max)	Set the Hard Limits for simulation
PivotConfig	withMechanismPositionConfig(MechanismPositionConfig mechanismPositionConfig)	Set the elevator mechanism position configuration.
PivotConfig	withMOI(double MOI)	Configure the MOI directly instead of estimating it with the length and mass of the Pivot for simulation.
PivotConfig	withMOI(Distance length, Mass weight)	Configure the MOI directly instead of estimating it with the length and mass of the Pivot for simulation.
PivotConfig	withSimColor(Color8Bit simColor)	Publish the color in sim as this.
PivotConfig	withSmartMotorController(SmartMotorController motorController)	Configure the SmartMotorController for the Pivot
PivotConfig	withSoftLimits(Angle lowerLimit, Angle upperLimit)	Set the pivot soft limits.
PivotConfig	withStartingPosition(Angle startingPosition)	Set the pivot starting position.
PivotConfig	withTelemetry(String networkRoot, String telemetryName, SmartMotorControllerConfig.TelemetryVerbosity telemetryVerbosity)	Deprecated.
PivotConfig	withTelemetry(String telemetryName, SmartMotorControllerConfig.TelemetryVerbosity telemetryVerbosity)	Configure telemetry for the Pivot mechanism.
PivotConfig	withWrapping(Angle min, Angle max)	Wrap the pivot around these angles.

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

PivotConfig

public PivotConfig(SmartMotorController motorController)

Pivot Configuration class

Parameters:

motorController - Primary SmartMotorController for the Pivot

PivotConfig

public PivotConfig()

Pivot Configuration class

Implementation Note:

Required call to withSmartMotorController(SmartMotorController) before usage.

PivotConfig

public PivotConfig(PivotConfig cfg)

Copy constructor.

Parameters:

cfg - Config to copy.

Method Details

clone

public PivotConfig clone()

Overrides:

clone in class Object

withSmartMotorController

public PivotConfig withSmartMotorController(SmartMotorController motorController)

Configure the SmartMotorController for the Pivot

Parameters:

motorController - SmartMotorController for the Pivot.

Returns:

PivotConfig for chaining.

withSimColor

public PivotConfig withSimColor(Color8Bit simColor)

Publish the color in sim as this.

Parameters:

simColor - Color8Bit to show.

Returns:

PivotConfig for chaining.

withMOI

public PivotConfig withMOI(double MOI)

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

Parameters:

MOI - Moment of Inertia of the Pivot

Returns:

PivotConfig for chaining.

withMOI

public PivotConfig withMOI(Distance length,
 Mass weight)

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

Parameters:

length - Length of the Pivot.

weight - Weight of the Pivot

Returns:

PivotConfig for chaining.

withTelemetry

public PivotConfig 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:

PivotConfig for chaining.

withTelemetry

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

Deprecated.

Configure telemetry for the Pivot mechanism.

Parameters:

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

telemetryVerbosity - Telemetry verbosity to apply.

networkRoot - Network root to publish the telemetry under.

Returns:

ArmConfig for chaining.

withMechanismPositionConfig

public PivotConfig withMechanismPositionConfig(MechanismPositionConfig mechanismPositionConfig)

Set the elevator mechanism position configuration.

Parameters:

mechanismPositionConfig - MechanismPositionConfig for the Elevator

Returns:

PivotConfig for chaining

withStartingPosition

public PivotConfig withStartingPosition(Angle startingPosition)

Set the pivot starting position.

Parameters:

startingPosition - Starting position of the pivot.

Returns:

PivotConfig for chaining

withSoftLimits

public PivotConfig withSoftLimits(Angle lowerLimit,
 Angle upperLimit)

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

Parameters:

lowerLimit - Minimum rotation of the pivot.

upperLimit - Maximum rotation of the pivot.

Returns:

PivotConfig for chaining.

withWrapping

public PivotConfig withWrapping(Angle min,
 Angle max)

Wrap the pivot around these angles. When the pivot exceeds the maximum angle it will read as if it is the minimum angle.

Parameters:

min - Minimum angle for wrapping

max - Maximum angle for wrapping.

Returns:

PivotConfig for chaining.

withHardLimit

public PivotConfig withHardLimit(Angle min,
 Angle max)

Set the Hard Limits for simulation

Parameters:

min - Angle where the physical stop appears.

max - Angle where the physical stop appears

Returns:

PivotConfig 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 Pivot simulation.

Returns:

Moment of Inertia.

getUpperHardLimit

public Optional<Angle> getUpperHardLimit()

Get the Upper hard limit of the Pivot.

Returns:

Angle hard limit.

getLowerHardLimit

public Optional<Angle> getLowerHardLimit()

Get the lower hard limit of the Pivot

Returns:

Angle hard limit.

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.

getStartingAngle

public Optional<Angle> getStartingAngle()

Get the starting angle of the Pivot

Returns:

Angle of the Pivot

getMotor

public SmartMotorController getMotor()

Get the SmartMotorController of the Pivot

Returns:

SmartMotorController for the Pivot

getSimColor

public Color8Bit getSimColor()

Sim color value

Returns:

Sim color value

getMechanismPositionConfig

public MechanismPositionConfig getMechanismPositionConfig()

Get the MechanismPositionConfig associated with this PivotConfig.

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.