Package yams.mechanisms.positional

Class DoubleJointedArm

java.lang.Object

yams.mechanisms.SmartMechanism

yams.mechanisms.positional.SmartPositionalMechanism

yams.mechanisms.positional.DoubleJointedArm

public class DoubleJointedArm
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
DoubleJointedArm(ArmConfig lowerConfig, ArmConfig upperConfig)	Constructor for the Arm mechanism.

Method Summary

Modifier and Type	Method	Description
Pair<Angle,Angle>	getAnglesForPosition(Translation2d translation, boolean invert)	Inverse Kinematics for a DoubleJointedArm
Angle	getLowerAngle()	Get the shoulder angle of the DoubleJointedArm.
String	getName()	Get the name of the mechanism.
Translation2d	getPosition()	Get the Translation2d of the double jointed arm.
Translation3d	getRelativeMechanismPosition()	Get the relative position of the mechanism, taking into account the relative position defined in the MechanismPositionConfig.
Angle	getUpperAngle()	Get the elbow angle of the DoubleJointedArm
boolean	isNear(Translation2d target, Distance tolerance)	Is near the target within tolerance
Trigger	max()	Deprecated.
Trigger	min()	Deprecated.
Command	run(Translation2d translation2d, boolean invert)	Set the position of the DoubleJointedArm to be at pose in meters.
Command	run(Supplier<Translation2d> translation, Supplier<Boolean> invert)	Set the position of the DoubleJointedArm to be at pose in meters.
Command	runTo(Translation2d translation2d, boolean invert, Distance tolerance)	Runs to the given target and stops the command.
Command	runTo(Supplier<Translation2d> translation, Supplier<Boolean> invert, Distance tolerance)	Runs to the given target and stops the command.
Command	set(double dutycycle)	Deprecated.
Command	set(Double lowerDutycycle, Double upperDutycycle)	Simple duty cycle command.
Command	set(Supplier<Double> dutycyle)	Deprecated.
Command	setAngle(Angle lowerAngle, Angle upperAngle)	Set the shoulder and elbow angle of the DoubleJointedArm.
void	setDutyCycleSetpoint(double dutycycle)	Deprecated.
void	setMeasurementPositionSetpoint(Distance distance)	Deprecated.
void	setMeasurementVelocitySetpoint(LinearVelocity velocity)	Deprecated.
void	setMechanismPositionSetpoint(Angle angle)	Deprecated.
void	setMechanismVelocitySetpoint(AngularVelocity velocity)	Deprecated.
Command	setPosition(Translation2d translation, boolean invert)	Set the position of the DoubleJointedArm to be at pose in meters.
Command	setVoltage(Voltage volts)	Deprecated.
Command	setVoltage(Supplier<Voltage> volts)	Deprecated.
void	setVoltageSetpoint(Voltage voltage)	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 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, sprocket, sprocket

Methods inherited from class java.lang.Object

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

Constructor Details

DoubleJointedArm

public DoubleJointedArm(ArmConfig lowerConfig,
 ArmConfig upperConfig)

Constructor for the Arm mechanism.

Parameters:

lowerConfig - Lower ArmConfig to use.

upperConfig - Upper ArmConfig to use.

Method Details

getPosition

public Translation2d getPosition()

Get the Translation2d of the double jointed arm.

Returns:

Translation2d of the double jointed arm.

getAnglesForPosition

public Pair<Angle,Angle> getAnglesForPosition(Translation2d translation,
 boolean invert)

Inverse Kinematics for a DoubleJointedArm

Parameters:

translation - Translations from root in Meters.

invert - Invert the elbow.

Returns:

Pair with the shoulder angle then elbow angle.

setPosition

public Command setPosition(Translation2d translation,
 boolean invert)

Set the position of the DoubleJointedArm to be at pose in meters.

Parameters:

translation - Translation2d where X is away from root, and Y is up.

invert - Invert the eblow.

Returns:

Command that will reach the specified goal.

run

public Command run(Translation2d translation2d,
 boolean invert)

Set the position of the DoubleJointedArm to be at pose in meters.

Parameters:

translation2d - Translation2d where X is away from root, and Y is up.

invert - Invert the eblow.

Returns:

Command that will reach the specified goal.

run

public Command run(Supplier<Translation2d> translation,
 Supplier<Boolean> invert)

Set the position of the DoubleJointedArm to be at pose in meters.

Parameters:

translation - Supplier<Translation2d> where X is away from root, and Y is up.

invert - Supplier<Boolean> Invert the eblow.

Returns:

Command that will reach the specified goal.

runTo

public Command runTo(Translation2d translation2d,
 boolean invert,
 Distance tolerance)

Runs to the given target and stops the command. Note, if you have a default command it will take over.

Parameters:

translation2d - Target position

invert - Invert the elbow direction.

tolerance - Tolerance

Returns:

Command that will reach the specified goal.

runTo

public Command runTo(Supplier<Translation2d> translation,
 Supplier<Boolean> invert,
 Distance tolerance)

Runs to the given target and stops the command. Note, if you have a default command it will take over.

Parameters:

translation - Target position

invert - Invert the elbow direction.

tolerance - Tolerance

Returns:

Command that will reach the specified goal.

isNear

public boolean isNear(Translation2d target,
 Distance tolerance)

Is near the target within tolerance

Parameters:

target - Target to check

tolerance - Tolerance

Returns:

Boolean

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.

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.

getLowerAngle

public Angle getLowerAngle()

Get the shoulder angle of the DoubleJointedArm.

Returns:

Angle of the shoulder.

getUpperAngle

public Angle getUpperAngle()

Get the elbow angle of the DoubleJointedArm

Returns:

Angle of the elbow.

setAngle

public Command setAngle(Angle lowerAngle,
 Angle upperAngle)

Set the shoulder and elbow angle of the DoubleJointedArm.

Parameters:

lowerAngle - Angle of the shoulder.

upperAngle - Angle of the elbow.

Returns:

Command that will set the angles.

set

public Command set(Double lowerDutycycle,
 Double upperDutycycle)

Simple duty cycle command.

Parameters:

lowerDutycycle - Dutycycle of the shoulder.

upperDutycycle - DutyCycle of the elbow.

Returns:

Command to set the DutyCycle.

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.

setMeasurementVelocitySetpoint

@Deprecated
public void setMeasurementVelocitySetpoint(LinearVelocity velocity)

Deprecated.

Description copied from class: SmartMechanism

Set the SmartMotorController to the given speed.

Overrides:

setMeasurementVelocitySetpoint in class SmartMechanism

Parameters:

velocity - LinearVelocity to go to.

setMechanismVelocitySetpoint

@Deprecated
public void setMechanismVelocitySetpoint(AngularVelocity velocity)

Deprecated.

Description copied from class: SmartMechanism

Set the SmartMotorController to the given speed.

Overrides:

setMechanismVelocitySetpoint in class SmartMechanism

Parameters:

velocity - AngularVelocity to go to.

setMeasurementPositionSetpoint

@Deprecated
public void setMeasurementPositionSetpoint(Distance distance)

Deprecated.

Description copied from class: SmartMechanism

Sets the SmartMotorController to the given distance.

Overrides:

setMeasurementPositionSetpoint in class SmartMechanism

Parameters:

distance - Distance to go to.

setMechanismPositionSetpoint

@Deprecated
public void setMechanismPositionSetpoint(Angle angle)

Deprecated.

Description copied from class: SmartMechanism

Sets the SmartMotorController to the given angle.

Overrides:

setMechanismPositionSetpoint in class SmartMechanism

Parameters:

angle - Angle to go to.

setVoltageSetpoint

@Deprecated
public void setVoltageSetpoint(Voltage voltage)

Deprecated.

Description copied from class: SmartMechanism

Set the voltage of the SmartMotorController.

Overrides:

setVoltageSetpoint in class SmartMechanism

Parameters:

voltage - Voltage to go to.

setDutyCycleSetpoint

@Deprecated
public void setDutyCycleSetpoint(double dutycycle)

Deprecated.

Description copied from class: SmartMechanism

Set the dutycycle of the SmartMotorController.

Overrides:

setDutyCycleSetpoint in class SmartMechanism

Parameters:

dutycycle - [-1,1] to set.