Package yams.mechanisms.velocity

Class FlyWheel

java.lang.Object

yams.mechanisms.SmartMechanism

yams.mechanisms.velocity.SmartVelocityMechanism

yams.mechanisms.velocity.FlyWheel

public class FlyWheel
extends SmartVelocityMechanism

FlyWheel mechanism.

Field Summary

Fields inherited from class yams.mechanisms.velocity.SmartVelocityMechanism

mechanismLigament, mechanismRoot

Fields inherited from class yams.mechanisms.SmartMechanism

m_mechanismWindow, m_smc, m_subsystem, m_telemetry

Constructor Summary

Constructors

Constructor	Description
FlyWheel(FlyWheelConfig config)	Construct the FlyWheel class

Method Summary

Modifier and Type	Method	Description
Trigger	between(AngularVelocity start, AngularVelocity end)	Between two velocities.
LinearVelocity	getLinearVelocity()	Get the LinearVelocity of the FlyWheel.
Optional<Angle>	getMechanismSetpoint()	Deprecated.
Optional<AngularVelocity>	getMechanismSetpointVelocity()	Mechanism velocity setpoint.
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.
FlyWheelConfig	getShooterConfig()	Get the FlyWheelConfig object for this FlyWheel
AngularVelocity	getSpeed()	Get the SmartMotorController Mechanism velocity representing the FlyWheel.
Trigger	gte(AngularVelocity speed)	Greater than or equal to angular velocity.
Trigger	isNear(AngularVelocity speed, AngularVelocity within)	FlyWheel is near a speed.
Trigger	lte(AngularVelocity speed)	Less than or equal to angular velocity
Trigger	max()	SmartVelocityMechanism is at max, defined by the soft limit or hard limit on the SmartVelocityMechanism.
Trigger	min()	Minimum angle of the SmartVelocityMechanism given by the soft limit or hard limit of the SmartVelocityMechanism.
Command	run(AngularVelocity velocity)	Set the FlyWheel to the given speed.
Command	run(LinearVelocity speed)	Set the FlyWheel to the given speed.
<T> Command	run(Supplier<T> velocity)	Run the FlyWheel to a given velocity
Command	runTo(AngularVelocity velocity, AngularVelocity tolerance)	Run the FlyWheel to a velocity within a tolerance, then end the command.
Command	runTo(LinearVelocity velocity, LinearVelocity tolerance)	Run the FlyWheel to a velocity within a tolerance then end the command.
Command	runTo(Supplier<AngularVelocity> velocity, AngularVelocity tolerance)	Run the FlyWheel to a velocity within a tolerance, then end the command.
Command	runTo(Supplier<LinearVelocity> velocity, LinearVelocity tolerance)	Run the FlyWheel to a velocity within a tolerance then end the command.
void	setMeasurementPositionSetpoint(Distance distance)	Deprecated.
void	setMeasurementVelocitySetpoint(LinearVelocity speed)	Set the FlyWheel to the given speed.
Command	setSpeed(AngularVelocity velocity)	Set the FlyWheel to the given speed.
Command	setSpeed(Supplier<AngularVelocity> velocity)	Set the FlyWheel to the given speed.
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 FlyWheel.

Methods inherited from class yams.mechanisms.velocity.SmartVelocityMechanism

getMechanismLigament, getMechanismRoot, getMotor

Methods inherited from class yams.mechanisms.SmartMechanism

gearbox, gearbox, gearing, gearing, 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

FlyWheel

public FlyWheel(FlyWheelConfig config)

Construct the FlyWheel class

Parameters:

config - FlyWheel configuration.

Method Details

between

public Trigger between(AngularVelocity start,
 AngularVelocity end)

Between two velocities.

Parameters:

start - Start Velocity.

end - End velocity

Returns:

Trigger

gte

public Trigger gte(AngularVelocity speed)

Greater than or equal to angular velocity.

Parameters:

speed - AngularVelocity to check against.

Returns:

Trigger for FlyWheel.

lte

public Trigger lte(AngularVelocity speed)

Less than or equal to angular velocity

Parameters:

speed - AngularVelocity to check against

Returns:

Trigger

getSpeed

public AngularVelocity getSpeed()

Get the SmartMotorController Mechanism velocity representing the FlyWheel.

Returns:

FlyWheel AngularVelocity

getLinearVelocity

public LinearVelocity getLinearVelocity()

Get the LinearVelocity of the FlyWheel.

Returns:

FlyWheel LinearVelocity

isNear

public Trigger isNear(AngularVelocity speed,
 AngularVelocity within)

FlyWheel is near a speed.

Parameters:

speed - AngularVelocity to be near.

within - AngularVelocity within.

Returns:

Trigger on when the FlyWheel is near another speed.

setSpeed

public Command setSpeed(Supplier<AngularVelocity> velocity)

Set the FlyWheel to the given speed.

Parameters:

velocity - FlyWheel speed to go to.

Returns:

Command that sets the FlyWheel to the desired speed.

setSpeed

public Command setSpeed(AngularVelocity velocity)

Set the FlyWheel to the given speed.

Parameters:

velocity - FlyWheel speed to go to.

Returns:

Command that sets the FlyWheel to the desired speed.

run

public <T> Command run(Supplier<T> velocity)

Run the FlyWheel to a given velocity

Type Parameters:

T - Must be a LinearVelocity or AngularVelocity

Parameters:

velocity - Supplier of LinearVelocity or AngularVelocity

Returns:

RunCommand which runs the FlyWheel to the desired velocity with the closed loop controller.

run

public Command run(AngularVelocity velocity)

Set the FlyWheel to the given speed.

Parameters:

velocity - FlyWheel speed to go to.

Returns:

Command that sets the FlyWheel to the desired speed.

runTo

public Command runTo(Supplier<AngularVelocity> velocity,
 AngularVelocity tolerance)

Run the FlyWheel to a velocity within a tolerance, then end the command.

Parameters:

velocity - Supplier of AngularVelocity

tolerance - AngularVelocity tolerance

Returns:

Command that runs the FlyWheel to the desired velocity then moves on.

Implementation Note:

If you are using this function, try not to have a default command or else the default command will override the setting after this command ends.

runTo

public Command runTo(AngularVelocity velocity,
 AngularVelocity tolerance)

Run the FlyWheel to a velocity within a tolerance, then end the command.

Parameters:

velocity - AngularVelocity to go to.

tolerance - AngularVelocity tolerance

Returns:

Command that runs the FlyWheel to the desired velocity then moves on.

Implementation Note:

If you are using this function, try not to have a default command or else the default command will override the setting after this command ends.

runTo

public Command runTo(LinearVelocity velocity,
 LinearVelocity tolerance)

Run the FlyWheel to a velocity within a tolerance then end the command.

Parameters:

velocity - LinearVelocity to go to.

tolerance - LinearVelocity tolerance

Returns:

Command that runs the FlyWheel to the desired velocity then moves on.

Implementation Note:

If you are using this function, try not to have a default command or else the default command will override the setting after this command ends.

runTo

public Command runTo(Supplier<LinearVelocity> velocity,
 LinearVelocity tolerance)

Run the FlyWheel to a velocity within a tolerance then end the command.

Parameters:

velocity - LinearVelocity to go to.

tolerance - LinearVelocity tolerance

Returns:

Command that runs the FlyWheel to the desired velocity then moves on.

Implementation Note:

If you are using this function, try not to have a default command or else the default command will override the setting after this command ends.

run

public Command run(LinearVelocity speed)

Set the FlyWheel to the given speed.

Parameters:

speed - FlyWheel speed to go to.

Returns:

Command that sets the FlyWheel to the desired speed.

getMechanismSetpointVelocity

public Optional<AngularVelocity> getMechanismSetpointVelocity()

Mechanism velocity setpoint.

Returns:

AngularVelocity setpoint of the FlyWheel.

getMechanismSetpoint

@Deprecated
public Optional<Angle> getMechanismSetpoint()

Deprecated.

Description copied from class: SmartMechanism

Get the SmartMechanism's setpoint as an Angle if it exists.

Overrides:

getMechanismSetpoint in class SmartMechanism

Returns:

Optional setpoint Angle of the mechanism..

setMeasurementVelocitySetpoint

public void setMeasurementVelocitySetpoint(LinearVelocity speed)

Set the FlyWheel to the given speed.

Overrides:

setMeasurementVelocitySetpoint in class SmartMechanism

Parameters:

speed - 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.

max

public Trigger max()

Description copied from class: SmartVelocityMechanism

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

Specified by:

max in class SmartVelocityMechanism

Returns:

Maximum angle for the SmartVelocityMechanism.

min

public Trigger min()

Description copied from class: SmartVelocityMechanism

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

Specified by:

min in class SmartVelocityMechanism

Returns:

Trigger on minimum of the SmartVelocityMechanism.

sysId

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

Description copied from class: SmartVelocityMechanism

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 SmartVelocityMechanism

Parameters:

maximumVoltage - Maximum Voltage to give to the SmartVelocityMechanism, is the voltage given to run the SmartVelocityMechanism up at a static speed.

step - Step Voltage to give to the SmartVelocityMechanism.

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 FlyWheel.

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.

getShooterConfig

public FlyWheelConfig getShooterConfig()

Get the FlyWheelConfig object for this FlyWheel

Returns:

The FlyWheelConfig object for this FlyWheel