Package yams.mechanisms.positional

Class Arm

java.lang.Object

yams.mechanisms.SmartMechanism

yams.mechanisms.positional.SmartPositionalMechanism

yams.mechanisms.positional.Arm

public class Arm
extends SmartPositionalMechanism

Arm mechanism.

Field Summary

Fields inherited from class yams.mechanisms.positional.SmartPositionalMechanism

m_mechanismLigament, m_mechanismRoot

Fields inherited from class yams.mechanisms.SmartMechanism

m_mechanismWindow, m_smc, m_subsystem, m_telemetry

Constructor Summary

Constructors

Constructor	Description
Arm(ArmConfig config)	Constructor for the Arm mechanism.

Method Summary

Modifier and Type	Method	Description
Trigger	between(Angle start, Angle end)	Between two angles.
Angle	getAngle()	Get the SmartMotorController Mechanism Position representing the arm.
ArmConfig	getArmConfig()	Get the ArmConfig for this Arm.
String	getName()	Get the name of the mechanism.
Translation3d	getRelativeMechanismPosition()	Get the relative position of the mechanism, taking into account the relative position defined in the MechanismPositionConfig.
Trigger	gte(Angle angle)	Greater than or equal to angle.
Trigger	isNear(Angle angle, Angle within)	Arm is near an angle.
Trigger	lte(Angle angle)	Less than or equal to angle
Trigger	max()	SmartPositionalMechanism is at max, defined by the soft limit or hard limit on the SmartPositionalMechanism.
Trigger	min()	Minimum angle of the SmartPositionalMechanism given by the soft limit or hard limit of the SmartPositionalMechanism.
Command	setAngle(Angle angle)	Set the arm to the given angle.
Command	setAngle(Supplier<Angle> angle)	Set the arm to the given angle via a supplier.
void	simIterate()	Iterate sim
Command	sysId(Voltage maximumVoltage, Velocity<VoltageUnit> step, Time duration)	Create the SysId routine and commands to run the SysId tests.
void	updateTelemetry()	Update the mechanism's telemetry.
void	visualizationUpdate()	Updates the mechanism ligament with the current angle of the arm.

Methods inherited from class yams.mechanisms.positional.SmartPositionalMechanism

getMechanismLigament, getMechanismRoot, getMotor

Methods inherited from class yams.mechanisms.SmartMechanism

gearbox, gearbox, gearing, gearing, getMechanismSetpoint, getMechanismWindow, getMotorController, set, set, setVoltage, setVoltage, sprocket, sprocket

Methods inherited from class java.lang.Object

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

Constructor Details

Arm

public Arm(ArmConfig config)

Constructor for the Arm mechanism.

Parameters:

config - ArmConfig to use.

Method Details

updateTelemetry

public void updateTelemetry()

Description copied from class: SmartMechanism

Update the mechanism's telemetry.

Specified by:

updateTelemetry in class SmartMechanism

simIterate

public void simIterate()

Description copied from class: SmartMechanism

Iterate sim

Specified by:

simIterate in class SmartMechanism

visualizationUpdate

public void visualizationUpdate()

Updates the mechanism ligament with the current angle of the arm.

Specified by:

visualizationUpdate in class SmartMechanism

See Also:

• SmartMechanism.visualizationUpdate()

getRelativeMechanismPosition

public Translation3d getRelativeMechanismPosition()

Get the relative position of the mechanism, taking into account the relative position defined in the MechanismPositionConfig.

Specified by:

getRelativeMechanismPosition in class SmartMechanism

Returns:

The relative position of the mechanism as a Translation3d.

getName

public String getName()

Description copied from class: SmartMechanism

Get the name of the mechanism.

Specified by:

getName in class SmartMechanism

Returns:

String name.

getAngle

public Angle getAngle()

Get the SmartMotorController Mechanism Position representing the arm.

Returns:

Arm Angle

setAngle

public Command setAngle(Angle angle)

Set the arm to the given angle.

Parameters:

angle - Arm angle to go to.

Returns:

Command that sets the arm to the desired angle.

setAngle

public Command setAngle(Supplier<Angle> angle)

Set the arm to the given angle via a supplier.

Parameters:

angle - Supplier for the arm angle to go to.

Returns:

Command that sets the arm to the desired angle.

isNear

public Trigger isNear(Angle angle,
 Angle within)

Arm is near an angle.

Parameters:

angle - Angle to be near.

within - Angle within.

Returns:

Trigger on when the arm is near another angle.

max

public Trigger max()

Description copied from class: SmartPositionalMechanism

SmartPositionalMechanism is at max, defined by the soft limit or hard limit on the SmartPositionalMechanism.

Specified by:

max in class SmartPositionalMechanism

Returns:

Maximum angle for the SmartPositionalMechanism.

min

public Trigger min()

Description copied from class: SmartPositionalMechanism

Minimum angle of the SmartPositionalMechanism given by the soft limit or hard limit of the SmartPositionalMechanism.

Specified by:

min in class SmartPositionalMechanism

Returns:

Trigger on minimum of the SmartPositionalMechanism.

sysId

public Command sysId(Voltage maximumVoltage,
 Velocity<VoltageUnit> step,
 Time duration)

Description copied from class: SmartPositionalMechanism

Create the SysId routine and commands to run the SysId tests. The SysId test will run the mechanism up then down at a constant speed, then run the mechanism up at an increasing speed and down at an increasing speed. Requires the maximum and minimum limit to be set. Runs the mechanism within 1 degree of the maximum and minimum.

Specified by:

sysId in class SmartPositionalMechanism

Parameters:

maximumVoltage - Maximum Voltage to give to the SmartPositionalMechanism, is the voltage given to run the SmartPositionalMechanism up at a static speed.

step - Step Voltage to give to the SmartPositionalMechanism.

duration - SysId test duration.

Returns:

SequentialCommandGroup running the SysId commands.

between

public Trigger between(Angle start,
 Angle end)

Between two angles.

Parameters:

start - Start angle.

end - End angle

Returns:

Trigger

lte

public Trigger lte(Angle angle)

Less than or equal to angle

Parameters:

angle - Angle to check against

Returns:

Trigger

gte

public Trigger gte(Angle angle)

Greater than or equal to angle.

Parameters:

angle - Angle to check against.

Returns:

Trigger for Arm.

getArmConfig

public ArmConfig getArmConfig()

Get the ArmConfig for this Arm.

Returns:

The ArmConfig used to configure this Arm.