Package yams.mechanisms.positional

Class Pivot

java.lang.Object

yams.mechanisms.SmartMechanism

yams.mechanisms.positional.SmartPositionalMechanism

yams.mechanisms.positional.Pivot

public class Pivot
extends SmartPositionalMechanism

Pivot 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
Pivot(PivotConfig config)	Construct the Pivot class

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 pivot.
String	getName()	Get the name of the mechanism.
PivotConfig	getPivotConfig()	Get the PivotConfig object for this Pivot
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)	Pivot 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	run(Angle angle)	Set the pivot to the given angle.
Command	run(Supplier<Angle> angle)	Set the pivot to the given angle via a supplier.
Command	runTo(Angle angle, Angle tolerance)	Set the pivot to the given Angle then end the command.
Command	runTo(Supplier<Angle> angle, Angle tolerance)	Set the pivot to the given angle then end the command.
Command	setAngle(Angle angle)	Set the pivot to the given angle.
Command	setAngle(Supplier<Angle> angle)	Set the pivot to the given angle.
void	setMeasurementPositionSetpoint(Distance distance)	Deprecated.
void	setMeasurementVelocitySetpoint(LinearVelocity velocity)	Deprecated.
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 angle of the mechanism ligament to match the current angle of the pivot.

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, setDutyCycleSetpoint, setMechanismPositionSetpoint, setMechanismVelocitySetpoint, setVoltage, setVoltage, setVoltageSetpoint, sprocket, sprocket

Methods inherited from class java.lang.Object

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

Constructor Details

Pivot

public Pivot(PivotConfig config)

Construct the Pivot class

Parameters:

config - Pivot configuration.

Method Details

between

public Trigger between(Angle start,
 Angle end)

Between two angles.

Parameters:

start - Start angle.

end - End angle

Returns:

Trigger

gte

public Trigger gte(Angle angle)

Greater than or equal to angle.

Parameters:

angle - Angle to check against.

Returns:

Trigger for Pivot.

lte

public Trigger lte(Angle angle)

Less than or equal to angle

Parameters:

angle - Angle to check against

Returns:

Trigger

getAngle

public Angle getAngle()

Get the SmartMotorController Mechanism Position representing the pivot.

Returns:

Pivot Angle

setAngle

public Command setAngle(Angle angle)

Set the pivot to the given angle.

Parameters:

angle - Pivot angle to go to.

Returns:

Command that sets the pivot to the desired angle.

setAngle

public Command setAngle(Supplier<Angle> angle)

Set the pivot to the given angle.

Parameters:

angle - Pivot angle to go to.

Returns:

Command that sets the pivot to the desired angle.

run

public Command run(Angle angle)

Set the pivot to the given angle.

Parameters:

angle - Pivot angle to go to.

Returns:

Command that sets the pivot to the desired angle.

run

public Command run(Supplier<Angle> angle)

Set the pivot to the given angle via a supplier.

Parameters:

angle - Supplier for the pivot angle to go to.

Returns:

Command that sets the pivot to the desired angle.

runTo

public Command runTo(Angle angle,
 Angle tolerance)

Set the pivot to the given Angle then end the command.

Parameters:

angle - Angle to go to.

tolerance - Tolerance Angle

Returns:

Command that sets the pivot to the desired angle.

Implementation Note:

This command will not stop. It should NOT be used when there is a default command on the Subsystem.

runTo

public Command runTo(Supplier<Angle> angle,
 Angle tolerance)

Set the pivot to the given angle then end the command.

Parameters:

angle - Angle to go to.

tolerance - Tolerance Angle

Returns:

Command that sets the pivot to the desired angle.

Implementation Note:

This command will not stop. It should NOT be used when there is a default command on the Subsystem.

isNear

public Trigger isNear(Angle angle,
 Angle within)

Pivot is near an angle.

Parameters:

angle - Angle to be near.

within - Angle within.

Returns:

Trigger on when the pivot 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.

simIterate

public void simIterate()

Description copied from class: SmartMechanism

Iterate sim

Specified by:

simIterate in class SmartMechanism

updateTelemetry

public void updateTelemetry()

Description copied from class: SmartMechanism

Update the mechanism's telemetry.

Specified by:

updateTelemetry in class SmartMechanism

visualizationUpdate

public void visualizationUpdate()

Updates the angle of the mechanism ligament to match the current angle of the pivot.

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.

getPivotConfig

public PivotConfig getPivotConfig()

Get the PivotConfig object for this Pivot

Returns:

The PivotConfig object for this Pivot

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.

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.