Package yams.mechanisms.positional

Class Elevator

java.lang.Object

yams.mechanisms.SmartMechanism

yams.mechanisms.positional.SmartPositionalMechanism

yams.mechanisms.positional.Elevator

public class Elevator
extends SmartPositionalMechanism

Elevator 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
Elevator(ElevatorConfig config)	Construct the Elevator class for easy manipulation of an elevator.

Method Summary

Modifier and Type	Method	Description
Trigger	between(Distance start, Distance end)	Between two heights.
ElevatorConfig	getConfig()	Get the ElevatorConfig for this Elevator
Distance	getHeight()	Get the Height of the Elevator.
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.
LinearVelocity	getVelocity()	Get the linear velocity of the Elevator.
Trigger	gte(Distance height)	Greater than or equal to height.
Trigger	isNear(Distance height, Distance within)	Elevator is near a height.
Trigger	lte(Distance height)	Less than or equal to height
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	setHeight(Distance height)	Set the height of the elevator.
Command	setHeight(Supplier<Distance> height)	Set the height of the elevator.
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 length of the mechanism ligament to match the current height of the elevator in meters.

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

Elevator

public Elevator(ElevatorConfig config)

Construct the Elevator class for easy manipulation of an elevator.

Parameters:

config - ElevatorConfig to set.

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 length of the mechanism ligament to match the current height of the elevator in meters.

Specified by:

visualizationUpdate in class SmartMechanism

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.

setHeight

public Command setHeight(Distance height)

Set the height of the elevator.

Parameters:

height - Height of the elevator to reach.

Returns:

Command that sets the elevator height, stops immediately.

setHeight

public Command setHeight(Supplier<Distance> height)

Set the height of the elevator.

Parameters:

height - Height of the elevator to reach.

Returns:

Command that sets the elevator height, stops immediately.

getHeight

public Distance getHeight()

Get the Height of the Elevator.

Returns:

Distance of the Elevator.

getVelocity

public LinearVelocity getVelocity()

Get the linear velocity of the Elevator.

Returns:

LinearVelocity of the elevator.

isNear

public Trigger isNear(Distance height,
 Distance within)

Elevator is near a height.

Parameters:

height - Distance to be near.

within - Distance within.

Returns:

Trigger on when the elevator is near another height.

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.

between

public Trigger between(Distance start,
 Distance end)

Between two heights.

Parameters:

start - Start height.

end - End height.

Returns:

Trigger

lte

public Trigger lte(Distance height)

Less than or equal to height

Parameters:

height - Distance to check against

Returns:

Trigger

gte

public Trigger gte(Distance height)

Greater than or equal to height.

Parameters:

height - Height to check against.

Returns:

Trigger for elevator.

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.

getConfig

public ElevatorConfig getConfig()

Get the ElevatorConfig for this Elevator

Returns:

ElevatorConfig for this Elevator