Package yams.mechanisms.positional

Class SmartPositionalMechanism

java.lang.Object

yams.mechanisms.SmartMechanism

yams.mechanisms.positional.SmartPositionalMechanism

Direct Known Subclasses:

Arm, DifferentialMechanism, DoubleJointedArm, Elevator, Pivot

public abstract class SmartPositionalMechanism
extends SmartMechanism

Generic for positional mechanisms.

Field Summary

Fields

Modifier and Type	Field	Description
protected MechanismLigament2d	m_mechanismLigament	The ligament that is being moved.
protected MechanismRoot2d	m_mechanismRoot	The root point of the Mechanism.

Fields inherited from class yams.mechanisms.SmartMechanism

m_mechanismWindow, m_smc, m_subsystem, m_telemetry

Constructor Summary

Constructors

Constructor	Description
SmartPositionalMechanism()

Method Summary

Modifier and Type	Method	Description
MechanismLigament2d	getMechanismLigament()	Get the ligament of the 2D mechanism model.
MechanismRoot2d	getMechanismRoot()	The root of the 2D mechanism model.
SmartMotorController	getMotor()	Get the motor controller which is moving the mechanism.
abstract Trigger	max()	SmartPositionalMechanism is at max, defined by the soft limit or hard limit on the SmartPositionalMechanism.
abstract Trigger	min()	Minimum angle of the SmartPositionalMechanism given by the soft limit or hard limit of the SmartPositionalMechanism.
abstract Command	sysId(Voltage maximumVoltage, Velocity<VoltageUnit> step, Time duration)	Create the SysId routine and commands to run the SysId tests.

Methods inherited from class yams.mechanisms.SmartMechanism

gearbox, gearbox, gearing, gearing, getMechanismSetpoint, getMechanismWindow, getMotorController, getName, getRelativeMechanismPosition, set, set, setVoltage, setVoltage, simIterate, sprocket, sprocket, updateTelemetry, visualizationUpdate

Methods inherited from class java.lang.Object

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

Field Details

m_mechanismRoot

protected MechanismRoot2d m_mechanismRoot

The root point of the Mechanism.

m_mechanismLigament

protected MechanismLigament2d m_mechanismLigament

The ligament that is being moved.

Constructor Details

SmartPositionalMechanism

public SmartPositionalMechanism()

Method Details

max

public abstract Trigger max()

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

Returns:

Maximum angle for the SmartPositionalMechanism.

min

public abstract Trigger min()

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

Returns:

Trigger on minimum of the SmartPositionalMechanism.

sysId

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

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.

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.

getMechanismLigament

public MechanismLigament2d getMechanismLigament()

Get the ligament of the 2D mechanism model. Used to change the position of the mechanism model in the SmartDashboard.

Returns:

Ligament of the 2D mechanism model.

getMechanismRoot

public MechanismRoot2d getMechanismRoot()

The root of the 2D mechanism model.

Returns:

Root of the 2D mechanism model.

getMotor

public SmartMotorController getMotor()

Get the motor controller which is moving the mechanism.

Returns:

Motor controller which is moving the mechanism.