Package yams.mechanisms.positional

Class DifferentialMechanism

java.lang.Object

yams.mechanisms.SmartMechanism

yams.mechanisms.positional.SmartPositionalMechanism

yams.mechanisms.positional.DifferentialMechanism

public class DifferentialMechanism
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
DifferentialMechanism(DifferentialMechanismConfig diffConfig)	Constructor for the Differential mechanism.

Method Summary

Modifier and Type	Method	Description
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.
Angle	getTiltPosition()	Get the tilt Angle of the mechanism.
Angle	getTwistPosition()	Get the twist Angle of the mechanism.
Trigger	max()	Deprecated.
Trigger	min()	Deprecated.
Command	set(double dutycycle)	Deprecated.
Command	set(double twist, double tilt)	Set the dutycycle of the differential mechanism.
Command	set(Supplier<Double> dutycyle)	Deprecated.
Command	setPosition(Angle tilt, Angle twist)	Set the position of the differential mechanism.
Command	setPosition(Supplier<Angle> tilt, Supplier<Angle> twist)	Set the position of the differential mechanism using suppliers.
Command	setVoltage(Voltage volts)	Deprecated.
Command	setVoltage(Supplier<Voltage> volts)	Deprecated.
void	simIterate()	Iterate sim
Command	sysId(Voltage maximumVoltage, Velocity<VoltageUnit> step, Time duration)	Deprecated.
void	updateTelemetry()	Update the mechanism's telemetry.
void	visualizationUpdate()	Updates the mechanism ligament with the current angle of the Differential Mechanism.

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, sprocket, sprocket

Methods inherited from class java.lang.Object

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

Constructor Details

DifferentialMechanism

public DifferentialMechanism(DifferentialMechanismConfig diffConfig)

Constructor for the Differential mechanism.

Parameters:

diffConfig - Lower DifferentialMechanismConfig to use.

Method Details

getTwistPosition

public Angle getTwistPosition()

Get the twist Angle of the mechanism.

Returns:

Twist Angle.

getTiltPosition

public Angle getTiltPosition()

Get the tilt Angle of the mechanism.

Returns:

Tilt Angle.

setPosition

public Command setPosition(Supplier<Angle> tilt,
 Supplier<Angle> twist)

Set the position of the differential mechanism using suppliers.

Parameters:

tilt - Tilt of the Differential Mechanism.

twist - Twist of the Differential Mechanism.

Returns:

RunCommand to set the position.

set

public Command set(double twist,
 double tilt)

Set the dutycycle of the differential mechanism.

Parameters:

twist - Twist dutycycle.

tilt - Tilt dutycycle.

Returns:

RunCommand to set the differential mechanism duty cycle.

setPosition

public Command setPosition(Angle tilt,
 Angle twist)

Set the position of the differential mechanism.

Parameters:

tilt - Tilt of the differential mechanism.

twist - Twist of the differential mechanism.

Returns:

RunCommand to set the position.

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 Differential Mechanism.

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.

max

@Deprecated
public Trigger max()

Deprecated.

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.

set

@Deprecated
public Command set(double dutycycle)

Deprecated.

Description copied from class: SmartMechanism

Set the DutyCycle of the SmartMotorController.

Overrides:

set in class SmartMechanism

Parameters:

dutycycle - [-1,1] to set.

Returns:

Command

set

@Deprecated
public Command set(Supplier<Double> dutycyle)

Deprecated.

Description copied from class: SmartMechanism

Set the DutyCycle of the SmartMotorController.

Overrides:

set in class SmartMechanism

Parameters:

dutycyle - [-1,1] to set via an Supplier.

Returns:

Command

setVoltage

@Deprecated
public Command setVoltage(Voltage volts)

Deprecated.

Description copied from class: SmartMechanism

Set the voltage of the SmartMotorController.

Overrides:

setVoltage in class SmartMechanism

Parameters:

volts - Voltage of the SmartMotorController to set.

Returns:

Command

setVoltage

@Deprecated
public Command setVoltage(Supplier<Voltage> volts)

Deprecated.

Description copied from class: SmartMechanism

Set the voltage of the SmartMotorController.

Overrides:

setVoltage in class SmartMechanism

Parameters:

volts - Voltage of the SmartMotorController to set, via a Supplier.

Returns:

Command

min

@Deprecated
public Trigger min()

Deprecated.

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

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

Deprecated.

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.