Package yams.motorcontrollers

Class SmartMotorControllerConfig

java.lang.Object

yams.motorcontrollers.SmartMotorControllerConfig

public class SmartMotorControllerConfig
extends Object

Smart motor controller config.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	SmartMotorControllerConfig.ControlMode	Control mode for a motor controller.
static enum	SmartMotorControllerConfig.MotorMode	Idle mode for the SmartMotorController
static enum	SmartMotorControllerConfig.SmartMotorControllerOptions	All possible options that must be checked and applied during motor config application.
static enum	SmartMotorControllerConfig.TelemetryVerbosity	Telemetry verbosity for the SmartMotorController

Constructor Summary

Constructors

Constructor	Description
SmartMotorControllerConfig()	Construct the SmartMotorControllerConfig with a Subsystem added later.
SmartMotorControllerConfig(Subsystem subsystem)	Construct the SmartMotorControllerConfig for the Subsystem

Method Summary

Modifier and Type	Method	Description
void	clearFollowers()	Clear the follower motors so they are not reapplied
SmartMotorControllerConfig	clone()
Distance	convertFromMechanism(Angle rotations)	Convert Angle to Distance using mechanismCircumference
LinearAcceleration	convertFromMechanism(AngularAcceleration acceleration)	Convert Angle to LinearAcceleration using mechanismCircumference
LinearVelocity	convertFromMechanism(AngularVelocity velocity)	Convert Angle to LinearVelocity using mechanismCircumference
Angle	convertToMechanism(Distance distance)	Convert Distance to Angle using mechanismCircumference
AngularAcceleration	convertToMechanism(LinearAcceleration acceleration)	Convert LinearAcceleration to AngularAcceleration using the mechanismCircumference
AngularVelocity	convertToMechanism(LinearVelocity velocity)	Convert LinearVelocity to AngularVelocity using the mechanismCircumference
Optional<ArmFeedforward>	getArmFeedforward()	Get the ArmFeedforward if it is set.
Optional<ProfiledPIDController>	getClosedLoopController()	Get the controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), the outputs are in Volts.
Optional<Voltage>	getClosedLoopControllerMaximumVoltage()	Get the closed loop maximum voltage.
Optional<Time>	getClosedLoopControlPeriod()	Get the period of the SmartMotorController closed loop period.
Time	getClosedLoopRampRate()	Get the closed loop ramp rate.
Optional<Angle>	getClosedLoopTolerance()	Get the SmartMotorController closed loop controller tolerance.
Optional<ElevatorFeedforward>	getElevatorFeedforward()	Get the ElevatorFeedforward Optional
boolean	getEncoderInverted()	Get the encoder inversion state
Optional<ExponentialProfilePIDController>	getExponentiallyProfiledClosedLoopController()	Get the controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), the outputs are in Volts.
Optional<Object>	getExternalEncoder()	Get the external encoder.
MechanismGearing	getExternalEncoderGearing()	Get the external encoder gearing, default is 1:1 on a MAXPlanetary.
boolean	getExternalEncoderInverted()	Get whether or not the external encoder is inverted.
Optional<Angle>	getFeedbackSynchronizationThreshold()	Get the feedback synchronization threshold.
Optional<Pair<Object,Boolean>[]>	getFollowers()	Get the follower motors to the SmartMotorControllerConfig
MechanismGearing	getGearing()	Get the gearing to convert rotor rotations to mechanisms rotations connected to the SmartMotorController
Optional<SmartMotorControllerConfig.MotorMode>	getIdleMode()	Get the idle mode for the SmartMotorController
Optional<SmartMotorController[]>	getLooselyCoupledFollowers()	Get the loosely coupled follower motors.
Optional<Angle>	getMaxDiscontinuityPoint()	Get the discontinuity point for the SmartMotorController encoder.
Optional<Distance>	getMechanismCircumference()	Get the mechanism to distance ratio for the SmartMotorController
Optional<Angle>	getMechanismLowerLimit()	Lower limit of the mechanism.
Optional<Angle>	getMechanismUpperLimit()	Upper limit of the mechanism.
Optional<Angle>	getMinDiscontinuityPoint()	Get the discontinuity point for the SmartMotorController encoder.
double	getMOI()	Get the Moment of Inertia of the SmartMotorController's mechanism for the DCMotorSim.
SmartMotorControllerConfig.ControlMode	getMotorControllerMode()	Get the motor controller mdoe to use.
boolean	getMotorInverted()	Get the motor inversion state
Time	getOpenLoopRampRate()	Get the open loop ramp rate.
Optional<PIDController>	getSimpleClosedLoopController()	Get the simple closed loop controller without motion profiling.
Optional<SimpleMotorFeedforward>	getSimpleFeedforward()	Get the SimpleMotorFeedforward Optional.
Optional<SmartMotorControllerTelemetryConfig>	getSmartControllerTelemetryConfig()	Get the telemetry configuration
Optional<Angle>	getStartingPosition()	Get the starting mechanism position of the SmartMotorController
OptionalInt	getStatorStallCurrentLimit()	Get the stator stall current limit.
Subsystem	getSubsystem()	Get the subsystem controlled by the SmartMotorController
OptionalInt	getSupplyStallCurrentLimit()	Get the supply stall current limit.
Optional<String>	getTelemetryName()	Telemetry name.
Optional<Temperature>	getTemperatureCutoff()	Get the temperature cut off for the SmartMotorController
boolean	getUseExternalFeedback()	Use the external feedback sensor.
Optional<SmartMotorControllerConfig.TelemetryVerbosity>	getVerbosity()	Get Telemetry verbosity.
Optional<Voltage>	getVoltageCompensation()	Get the voltage compensation for the SmartMotorController
Optional<Angle>	getZeroOffset()	Get the zero offset for the SmartMotorController
void	resetValidationCheck()	Reset the validation checks for all required options to be applied to SmartMotorController from SmartMotorController.applyConfig(SmartMotorControllerConfig).
void	validateBasicOptions()	Validate all required options are at least fetched and handled in each SmartMotorController wrapper.
void	validateExternalEncoderOptions()	Validate external encoder config options for the config.
SmartMotorControllerConfig	withClosedLoopController(double kP, double kI, double kD)	Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), the outputs are in Volts.
SmartMotorControllerConfig	withClosedLoopController(double kP, double kI, double kD, AngularVelocity maxVelocity, AngularAcceleration maxAcceleration)	Set the closed loop controller for the SmartMotorController.
SmartMotorControllerConfig	withClosedLoopController(double kP, double kI, double kD, LinearVelocity maxVelocity, LinearAcceleration maxAcceleration)	Set the closed loop controller for the SmartMotorController.
SmartMotorControllerConfig	withClosedLoopController(PIDController controller)	Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), the outputs are in Volts.
SmartMotorControllerConfig	withClosedLoopController(ProfiledPIDController controller)	Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), outputs are in Volts.
SmartMotorControllerConfig	withClosedLoopController(ExponentialProfilePIDController controller)	Set the closed loop controller for the SmartMotorController with an exponential profile, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), outputs are in Volts.
SmartMotorControllerConfig	withClosedLoopControllerMaximumVoltage(Voltage volts)	Set the closed loop maximum voltage output.
SmartMotorControllerConfig	withClosedLoopControlPeriod(Frequency time)	Modify the period of the PID controller for the motor controller.
SmartMotorControllerConfig	withClosedLoopControlPeriod(Time time)	Modify the period of the PID controller for the motor controller.
SmartMotorControllerConfig	withClosedLoopRampRate(Time rate)	Set the closed loop ramp rate.
SmartMotorControllerConfig	withClosedLoopTolerance(Angle tolerance)	Set the closed loop tolerance of the mechanism controller.
SmartMotorControllerConfig	withClosedLoopTolerance(Distance tolerance)	Set the SmartMotorController closed loop controller tolerance via distance.
SmartMotorControllerConfig	withContinuousWrapping(Angle bottom, Angle top)	Set continuous wrapping for the SmartMotorController
SmartMotorControllerConfig	withControlMode(SmartMotorControllerConfig.ControlMode controlMode)	Set the control mode for the SmartMotorController
SmartMotorControllerConfig	withEncoderInverted(boolean inverted)	Set the encoder inversion state.
SmartMotorControllerConfig	withExternalEncoder(Object externalEncoder)	Set the external encoder which is attached to the motor type sent used by SmartMotorController
SmartMotorControllerConfig	withExternalEncoderGearing(double reductionRatio)	Set the external encoder gearing.
SmartMotorControllerConfig	withExternalEncoderGearing(MechanismGearing externalEncoderGearing)	Set the external encoder gearing.
SmartMotorControllerConfig	withExternalEncoderInverted(boolean externalEncoderInverted)	Set the external encoder inversion state.
SmartMotorControllerConfig	withExternalEncoderZeroOffset(Angle angle)	Set the zero offset of the SmartMotorController's external Encoder.
SmartMotorControllerConfig	withExternalEncoderZeroOffset(Distance distance)	Set the zero offset of the SmartMotorController's external Encoder.
SmartMotorControllerConfig	withFeedbackSynchronizationThreshold(Angle angle)	Set the feedback synchronization threshhold so the relative encoder synchronizes with the absolute encoder at this point.
SmartMotorControllerConfig	withFeedforward(ArmFeedforward armFeedforward)	Configure the ArmFeedforward for the
SmartMotorControllerConfig	withFeedforward(ElevatorFeedforward elevatorFeedforward)	Configure ElevatorFeedforward for the SmartMotorController
SmartMotorControllerConfig	withFeedforward(SimpleMotorFeedforward simpleFeedforward)	Set the SimpleMotorFeedforward for SmartMotorController, units are in Rotations
final SmartMotorControllerConfig	withFollowers(Pair<Object,Boolean>... followers)	Set the follower motors of the SmartMotorController
SmartMotorControllerConfig	withGearing(double reductionRatio)	Set the MechanismGearing for the SmartMotorController.
SmartMotorControllerConfig	withGearing(MechanismGearing gear)	Set the MechanismGearing for the SmartMotorController.
SmartMotorControllerConfig	withIdleMode(SmartMotorControllerConfig.MotorMode idleMode)	Set the SmartMotorController to brake or coast mode.
final SmartMotorControllerConfig	withLooselyCoupledFollowers(SmartMotorController... followers)	Applies loosely coupled follower motors to the SmartMotorController.
SmartMotorControllerConfig	withMechanismCircumference(Distance circumference)	Set the mechanism circumference to allow distance calculations on the SmartMotorController.
SmartMotorControllerConfig	withMomentOfInertia(double MOI)	Add the mechanism moment of inertia to the SmartMotorControllers simulation when not run under a formal mechanism.
SmartMotorControllerConfig	withMomentOfInertia(Distance length, Mass weight)	Add the mechanism moment of inertia to the SmartMotorControllers simulation when not run under a formal mechanism.
SmartMotorControllerConfig	withMotorInverted(boolean motorInverted)	Set the motor inversion state.
SmartMotorControllerConfig	withOpenLoopRampRate(Time rate)	Set the open loop ramp rate.
SmartMotorControllerConfig	withSimClosedLoopController(double kP, double kI, double kD)	Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured).
SmartMotorControllerConfig	withSimClosedLoopController(double kP, double kI, double kD, AngularVelocity maxVelocity, AngularAcceleration maxAcceleration)	Set the closed loop controller for the SmartMotorController.
SmartMotorControllerConfig	withSimClosedLoopController(double kP, double kI, double kD, LinearVelocity maxVelocity, LinearAcceleration maxAcceleration)	Set the closed loop controller for the SmartMotorController.
SmartMotorControllerConfig	withSimClosedLoopController(PIDController controller)	Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured).
SmartMotorControllerConfig	withSimClosedLoopController(ProfiledPIDController controller)	Set the closed loop controller for the SmartMotorController.
SmartMotorControllerConfig	withSimClosedLoopController(ExponentialProfilePIDController controller)	Set the closed loop controller for the SmartMotorController.
SmartMotorControllerConfig	withSimFeedforward(ArmFeedforward armFeedforward)	Configure the ArmFeedforward for the
SmartMotorControllerConfig	withSimFeedforward(ElevatorFeedforward elevatorFeedforward)	Configure ElevatorFeedforward for the SmartMotorController
SmartMotorControllerConfig	withSimFeedforward(SimpleMotorFeedforward simpleFeedforward)	Set the SimpleMotorFeedforward for SmartMotorController, units are in Rotations.
SmartMotorControllerConfig	withSoftLimit(Angle low, Angle high)	Set the angle soft limits.
SmartMotorControllerConfig	withSoftLimit(Distance low, Distance high)	Set the distance soft limits.
SmartMotorControllerConfig	withStartingPosition(Angle startingAngle)	Set the starting angle of the SmartMotorController
SmartMotorControllerConfig	withStartingPosition(Distance startingAngle)	Set the starting angle of the SmartMotorController
SmartMotorControllerConfig	withStatorCurrentLimit(Current stallCurrent)	Set the stall stator current limit for the SmartMotorController
SmartMotorControllerConfig	withSubsystem(Subsystem subsystem)	Sets the Subsystem for the SmartMotorControllerConfig to pass along to SmartMotorController and SmartMechanisms.
SmartMotorControllerConfig	withSupplyCurrentLimit(Current supplyCurrent)	Set the stall supply current limit for the SmartMotorController
SmartMotorControllerConfig	withTelemetry(String telemetryName, SmartMotorControllerConfig.TelemetryVerbosity verbosity)	Set the telemetry for the SmartMotorController
SmartMotorControllerConfig	withTelemetry(String telemetryName, SmartMotorControllerTelemetryConfig telemetryConfig)	Set the telemetry for the SmartMotorController with a SmartMotorControllerTelemetryConfig
SmartMotorControllerConfig	withTelemetry(SmartMotorControllerConfig.TelemetryVerbosity verbosity)	Set the telemetry for the SmartMotorController
SmartMotorControllerConfig	withTemperatureCutoff(Temperature cutoff)	Set the Temperature cut off for the SmartMotorController/
SmartMotorControllerConfig	withUseExternalFeedbackEncoder(boolean useExternalEncoder)	Set the external encoder to be the primary feedback device for the PID controller.
SmartMotorControllerConfig	withVoltageCompensation(Voltage voltageCompensation)	Set the voltage compensation for the SmartMotorController
SmartMotorControllerConfig	withWheelDiameter(Distance diameter)	Set the wheel diameter for the mechanism.
SmartMotorControllerConfig	withWheelRadius(Distance radius)	Set the wheel radius for the mechanism.

Methods inherited from class java.lang.Object

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

Constructor Details

SmartMotorControllerConfig

public SmartMotorControllerConfig(Subsystem subsystem)

Construct the SmartMotorControllerConfig for the Subsystem

Parameters:

subsystem - Subsystem to use.

SmartMotorControllerConfig

public SmartMotorControllerConfig()

Construct the SmartMotorControllerConfig with a Subsystem added later.

Implementation Note:

You must use withSubsystem(Subsystem) before passing off to SmartMotorController

Method Details

clone

public SmartMotorControllerConfig clone()

Overrides:

clone in class Object

withSubsystem

public SmartMotorControllerConfig withSubsystem(Subsystem subsystem)

Sets the Subsystem for the SmartMotorControllerConfig to pass along to SmartMotorController and SmartMechanisms. Must be set if a Subsystem was not defined previously.

Parameters:

subsystem - Subsystem to use.

Returns:

SmartMotorControllerConfig for chaining.

Implementation Note:

Does not copy the entire config, should NEVER be reused.

withExternalEncoderInverted

public SmartMotorControllerConfig withExternalEncoderInverted(boolean externalEncoderInverted)

Set the external encoder inversion state.

Parameters:

externalEncoderInverted - External encoder inversion state.

Returns:

SmartMotorControllerConfig for chaining.

withControlMode

public SmartMotorControllerConfig withControlMode(SmartMotorControllerConfig.ControlMode controlMode)

Set the control mode for the SmartMotorController

Parameters:

controlMode - SmartMotorControllerConfig.ControlMode to apply.

Returns:

SmartMotorControllerConfig for chaining.

withFeedbackSynchronizationThreshold

public SmartMotorControllerConfig withFeedbackSynchronizationThreshold(Angle angle)

Set the feedback synchronization threshhold so the relative encoder synchronizes with the absolute encoder at this point.

Parameters:

angle - Angle to exceed.

Returns:

SmartMotorControllerConfig for chaining.

withClosedLoopControllerMaximumVoltage

public SmartMotorControllerConfig withClosedLoopControllerMaximumVoltage(Voltage volts)

Set the closed loop maximum voltage output.

Parameters:

volts - Maximum voltage.

Returns:

SmartMotorControllerConfig for chaining.

withStartingPosition

public SmartMotorControllerConfig withStartingPosition(Angle startingAngle)

Set the starting angle of the SmartMotorController

Parameters:

startingAngle - Starting Mechanism Angle.

Returns:

SmartMotorControllerConfig for chaining.

withStartingPosition

public SmartMotorControllerConfig withStartingPosition(Distance startingAngle)

Set the starting angle of the SmartMotorController

Parameters:

startingAngle - Starting Mechanism Distance.

Returns:

SmartMotorControllerConfig for chaining.

withUseExternalFeedbackEncoder

public SmartMotorControllerConfig withUseExternalFeedbackEncoder(boolean useExternalEncoder)

Set the external encoder to be the primary feedback device for the PID controller.

Parameters:

useExternalEncoder - External encoder as primary feedback device for the PID controller.

Returns:

SmartMotorControllerConfig for chaining

withEncoderInverted

public SmartMotorControllerConfig withEncoderInverted(boolean inverted)

Set the encoder inversion state.

Parameters:

inverted - Encoder inversion state.

Returns:

SmartMotorControllerConfig for chaining.

withMotorInverted

public SmartMotorControllerConfig withMotorInverted(boolean motorInverted)

Set the motor inversion state.

Parameters:

motorInverted - Motor inversion state.

Returns:

SmartMotorControllerConfig for chaining.

withTemperatureCutoff

public SmartMotorControllerConfig withTemperatureCutoff(Temperature cutoff)

Set the Temperature cut off for the SmartMotorController/

Parameters:

cutoff - maximum Temperature

Returns:

SmartMotorControllerConfig for chaining.

withExternalEncoderZeroOffset

public SmartMotorControllerConfig withExternalEncoderZeroOffset(Distance distance)

Set the zero offset of the SmartMotorController's external Encoder.

Parameters:

distance - Zero offset in distance.

Returns:

SmartMotorControllerConfig for chaining.

withExternalEncoderZeroOffset

public SmartMotorControllerConfig withExternalEncoderZeroOffset(Angle angle)

Set the zero offset of the SmartMotorController's external Encoder.

Parameters:

angle - Angle to 0.

Returns:

SmartMotorControllerConfig for chaining.

withContinuousWrapping

public SmartMotorControllerConfig withContinuousWrapping(Angle bottom,
 Angle top)

Set continuous wrapping for the SmartMotorController

Parameters:

bottom - Bottom value to wrap to.

top - Top value to wrap to.

Returns:

SmartMotorControllerConfig for chaining.

withClosedLoopTolerance

public SmartMotorControllerConfig withClosedLoopTolerance(Angle tolerance)

Set the closed loop tolerance of the mechanism controller.

Parameters:

tolerance - Closed loop controller tolerance

Returns:

SmartMotorControllerConfig for chaining.

withClosedLoopTolerance

public SmartMotorControllerConfig withClosedLoopTolerance(Distance tolerance)

Set the SmartMotorController closed loop controller tolerance via distance.

Parameters:

tolerance - Distance tolerance.

Returns:

SmartMotorControllerConfig fpr chaining.

getClosedLoopTolerance

public Optional<Angle> getClosedLoopTolerance()

Get the SmartMotorController closed loop controller tolerance.

Returns:

Angle tolerance.

withTelemetry

public SmartMotorControllerConfig withTelemetry(String telemetryName,
 SmartMotorControllerConfig.TelemetryVerbosity verbosity)

Set the telemetry for the SmartMotorController

Parameters:

telemetryName - Name for the SmartMotorController

verbosity - Verbosity of the Telemetry for the SmartMotorController

Returns:

SmartMotorControllerConfig for chaining.

withTelemetry

public SmartMotorControllerConfig withTelemetry(SmartMotorControllerConfig.TelemetryVerbosity verbosity)

Set the telemetry for the SmartMotorController

Parameters:

verbosity - Verbosity of the Telemetry for the SmartMotorController

Returns:

SmartMotorControllerConfig for chaining.

withTelemetry

public SmartMotorControllerConfig withTelemetry(String telemetryName,
 SmartMotorControllerTelemetryConfig telemetryConfig)

Set the telemetry for the SmartMotorController with a SmartMotorControllerTelemetryConfig

Parameters:

telemetryName - Name for the SmartMotorController

telemetryConfig - Config that specifies what to log.

Returns:

SmartMotorControllerConfig for chaining.

getSmartControllerTelemetryConfig

public Optional<SmartMotorControllerTelemetryConfig> getSmartControllerTelemetryConfig()

Get the telemetry configuration

Returns:

Telemetry configuration.

getStatorStallCurrentLimit

public OptionalInt getStatorStallCurrentLimit()

Get the stator stall current limit.

Returns:

Stator current limit.

withSoftLimit

public SmartMotorControllerConfig withSoftLimit(Distance low,
 Distance high)

Set the distance soft limits.

Parameters:

low - Low distance soft limit.

high - High distance soft limit.

Returns:

SmartMotorControllerConfig for chaining.

withMomentOfInertia

public SmartMotorControllerConfig withMomentOfInertia(Distance length,
 Mass weight)

Add the mechanism moment of inertia to the SmartMotorControllers simulation when not run under a formal mechanism.

Parameters:

length - Length of the mechanism for MOI.

weight - Weight of the mechanism for MOI.

Returns:

SmartMotorControllerConfig for chaining

withMomentOfInertia

public SmartMotorControllerConfig withMomentOfInertia(double MOI)

Add the mechanism moment of inertia to the SmartMotorControllers simulation when not run under a formal mechanism.

Parameters:

MOI - Known moment of inertia.

Returns:

SmartMotorControllerConfig for chaining

withSoftLimit

public SmartMotorControllerConfig withSoftLimit(Angle low,
 Angle high)

Set the angle soft limits.

Parameters:

low - Low angle soft limit.

high - High angle soft limit.

Returns:

SmartMotorControllerConfig for chaining.

getSupplyStallCurrentLimit

public OptionalInt getSupplyStallCurrentLimit()

Get the supply stall current limit.

Returns:

Supply stall current limit.

getVoltageCompensation

public Optional<Voltage> getVoltageCompensation()

Get the voltage compensation for the SmartMotorController

Returns:

Ideal voltage

getIdleMode

public Optional<SmartMotorControllerConfig.MotorMode> getIdleMode()

Get the idle mode for the SmartMotorController

Returns:

SmartMotorControllerConfig.MotorMode

getMOI

public double getMOI()

Get the Moment of Inertia of the SmartMotorController's mechanism for the DCMotorSim.

Returns:

Moment of Inertia in JKgMetersSquared.

getMechanismLowerLimit

public Optional<Angle> getMechanismLowerLimit()

Lower limit of the mechanism.

Returns:

Lower angle soft limit.

getMechanismUpperLimit

public Optional<Angle> getMechanismUpperLimit()

Upper limit of the mechanism.

Returns:

Higher angle soft limit.

withIdleMode

public SmartMotorControllerConfig withIdleMode(SmartMotorControllerConfig.MotorMode idleMode)

Set the SmartMotorController to brake or coast mode.

Parameters:

idleMode - SmartMotorControllerConfig.MotorMode idle mode

Returns:

SmartMotorControllerConfig for chaining.

withVoltageCompensation

public SmartMotorControllerConfig withVoltageCompensation(Voltage voltageCompensation)

Set the voltage compensation for the SmartMotorController

Parameters:

voltageCompensation - Ideal voltage value.

Returns:

SmartMotorControllerConfig for chaining.

withFollowers

@SafeVarargs
public final SmartMotorControllerConfig withFollowers(Pair<Object,Boolean>... followers)

Set the follower motors of the SmartMotorController

Parameters:

followers - Base motor types (NOT SmartMotorController!) to configure as followers, must be same brand as the SmartMotorController with inversion from the base motor.

Returns:

SmartMotorControllerConfig for chaining

withLooselyCoupledFollowers

public final SmartMotorControllerConfig withLooselyCoupledFollowers(SmartMotorController... followers)

Applies loosely coupled follower motors to the SmartMotorController.

Parameters:

followers - SmartMotorControllers to configure as followers.

Returns:

SmartMotorControllerConfig for chaining

Implementation Requirements:

Configurations are not transferred!

Implementation Note:

ONLY the position and velocity requests will be forwarded.

clearFollowers

public void clearFollowers()

Clear the follower motors so they are not reapplied

withStatorCurrentLimit

public SmartMotorControllerConfig withStatorCurrentLimit(Current stallCurrent)

Set the stall stator current limit for the SmartMotorController

Parameters:

stallCurrent - Stall stator current limit for the SmartMotorController.

Returns:

SmartMotorControllerConfig for chaining.

withSupplyCurrentLimit

public SmartMotorControllerConfig withSupplyCurrentLimit(Current supplyCurrent)

Set the stall supply current limit for the SmartMotorController

Parameters:

supplyCurrent - Supply current limit.

Returns:

SmartMotorControllerConfig for chaining.

withClosedLoopRampRate

public SmartMotorControllerConfig withClosedLoopRampRate(Time rate)

Set the closed loop ramp rate. The ramp rate is the minimum time it should take to go from 0 power to full power in the motor controller while using PID.

Parameters:

rate - time to go from 0 to full throttle.

Returns:

SmartMotorControllerConfig for chaining.

withOpenLoopRampRate

public SmartMotorControllerConfig withOpenLoopRampRate(Time rate)

Set the open loop ramp rate. The ramp rate is the minimum time it should take to go from 0 power to full power in the motor controller while not using PID.

Parameters:

rate - time to go from 0 to full throttle.

Returns:

SmartMotorControllerConfig for chaining.

withExternalEncoder

public SmartMotorControllerConfig withExternalEncoder(Object externalEncoder)

Set the external encoder which is attached to the motor type sent used by SmartMotorController

Parameters:

externalEncoder - External encoder attached to the SmartMotorController

Returns:

SmartMotorControllerConfig for chaining.

getFollowers

public Optional<Pair<Object,Boolean>[]> getFollowers()

Get the follower motors to the SmartMotorControllerConfig

Returns:

Follower motor list.

withGearing

public SmartMotorControllerConfig withGearing(MechanismGearing gear)

Set the MechanismGearing for the SmartMotorController.

Parameters:

gear - MechanismGearing representing the gearbox and sprockets to the final axis.

Returns:

SmartMotorControllerConfig for chaining.

withGearing

public SmartMotorControllerConfig withGearing(double reductionRatio)

Set the MechanismGearing for the SmartMotorController.

Parameters:

reductionRatio - Reduction ratio, for example, a ratio of "3:1" is 3; a ratio of "1:2" is 0.5.

Returns:

SmartMotorControllerConfig for chaining.

withMechanismCircumference

public SmartMotorControllerConfig withMechanismCircumference(Distance circumference)

Set the mechanism circumference to allow distance calculations on the SmartMotorController.

Parameters:

circumference - Circumference of the actuating spool or sprocket+chain attached the mechanism actuator.

Returns:

SmartMotorControllerConfig for chaining.

withWheelRadius

public SmartMotorControllerConfig withWheelRadius(Distance radius)

Set the wheel radius for the mechanism.

Parameters:

radius - Radius of the wheels as Distance

Returns:

SmartMotorControllerConfig for chaining.

withWheelDiameter

public SmartMotorControllerConfig withWheelDiameter(Distance diameter)

Set the wheel diameter for the mechanism.

Parameters:

diameter - Diameter of the wheels as Distance

Returns:

SmartMotorControllerConfig for chaining.

getMechanismCircumference

public Optional<Distance> getMechanismCircumference()

Get the mechanism to distance ratio for the SmartMotorController

Returns:

Rotations/Distance ratio to convert mechanism rotations to distance.

withClosedLoopControlPeriod

public SmartMotorControllerConfig withClosedLoopControlPeriod(Time time)

Modify the period of the PID controller for the motor controller.

Parameters:

time - Period of the motor controller PID.

Returns:

SmartMotorControllerConfig for chaining.

withClosedLoopControlPeriod

public SmartMotorControllerConfig withClosedLoopControlPeriod(Frequency time)

Modify the period of the PID controller for the motor controller.

Parameters:

time - Period of the motor controller PID.

Returns:

SmartMotorControllerConfig for chaining.

getArmFeedforward

public Optional<ArmFeedforward> getArmFeedforward()

Get the ArmFeedforward if it is set.

Returns:

Optional of the ArmFeedforward.

withSimFeedforward

public SmartMotorControllerConfig withSimFeedforward(ArmFeedforward armFeedforward)

Configure the ArmFeedforward for the

Parameters:

armFeedforward - Arm feedforward for the SmartMotorController

Returns:

SmartMotorControllerConfig for chaining.

withFeedforward

public SmartMotorControllerConfig withFeedforward(ArmFeedforward armFeedforward)

Configure the ArmFeedforward for the

Parameters:

armFeedforward - Arm feedforward for the SmartMotorController

Returns:

SmartMotorControllerConfig for chaining.

getElevatorFeedforward

public Optional<ElevatorFeedforward> getElevatorFeedforward()

Get the ElevatorFeedforward Optional

Returns:

ElevatorFeedforward Optional

withSimFeedforward

public SmartMotorControllerConfig withSimFeedforward(ElevatorFeedforward elevatorFeedforward)

Configure ElevatorFeedforward for the SmartMotorController

Parameters:

elevatorFeedforward - ElevatorFeedforward to set.

Returns:

SmartMotorControllerConfig for chaining.

withFeedforward

public SmartMotorControllerConfig withFeedforward(ElevatorFeedforward elevatorFeedforward)

Configure ElevatorFeedforward for the SmartMotorController

Parameters:

elevatorFeedforward - ElevatorFeedforward to set.

Returns:

SmartMotorControllerConfig for chaining.

getSimpleFeedforward

public Optional<SimpleMotorFeedforward> getSimpleFeedforward()

Get the SimpleMotorFeedforward Optional.

Returns:

SimpleMotorFeedforward Optional

withSimClosedLoopController

public SmartMotorControllerConfig withSimClosedLoopController(ExponentialProfilePIDController controller)

Set the closed loop controller for the SmartMotorController. The units passed in are in Rotations (or Meters if Mechanism Circumference is configured), and outputs are in Volts.

Parameters:

controller - ProfiledPIDController to use, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), and output is Voltage.

Returns:

SmartMotorControllerConfig for chaining.

withSimClosedLoopController

public SmartMotorControllerConfig withSimClosedLoopController(ProfiledPIDController controller)

Set the closed loop controller for the SmartMotorController. The units passed in are in Rotations (or Meters if Mechanism Circumference is configured), and outputs are in Volts.

Parameters:

controller - ProfiledPIDController to use, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), and output is Voltage.

Returns:

SmartMotorControllerConfig for chaining.

withSimClosedLoopController

public SmartMotorControllerConfig withSimClosedLoopController(double kP,
 double kI,
 double kD)

Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured).

Parameters:

kP - KP scalar for the PID Controller.

kI - KI scalar for the PID Controller.

kD - KD scalar for the PID Controller.

Returns:

SmartMotorControllerConfig for chaining.

withSimClosedLoopController

public SmartMotorControllerConfig withSimClosedLoopController(PIDController controller)

Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured).

Parameters:

controller - PIDController to use.

Returns:

SmartMotorControllerConfig for chaining.

withSimClosedLoopController

public SmartMotorControllerConfig withSimClosedLoopController(double kP,
 double kI,
 double kD,
 LinearVelocity maxVelocity,
 LinearAcceleration maxAcceleration)

Set the closed loop controller for the SmartMotorController. Units are Meters.

Parameters:

kP - KP scalar for the PID Controller.

kI - KI scalar for the PID Controller.

kD - KD scalar for the PID Controller.

maxVelocity - Maximum linear velocity for the Trapezoidal profile.

maxAcceleration - Maximum linear acceleration for the Trapezoidal profile.

Returns:

SmartMotorControllerConfig for chaining.

withSimClosedLoopController

public SmartMotorControllerConfig withSimClosedLoopController(double kP,
 double kI,
 double kD,
 AngularVelocity maxVelocity,
 AngularAcceleration maxAcceleration)

Set the closed loop controller for the SmartMotorController. Units are Rotations.

Parameters:

kP - KP scalar for the PID Controller, the units passed in are in Rotations.

kI - KI scalar for the PID Controller, the units passed in are in Rotations.

kD - KD scalar for the PID Controller, the units passed in are in Rotations.

maxVelocity - Maximum angular velocity for the Trapezoidal profile.

maxAcceleration - Maximum angular acceleration for the Trapezoidal profile.

Returns:

SmartMotorControllerConfig for chaining.

withClosedLoopController

public SmartMotorControllerConfig withClosedLoopController(ProfiledPIDController controller)

Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), outputs are in Volts.

Parameters:

controller - ProfiledPIDController to use, the units passed in are in Rotations and output is Voltage.

Returns:

SmartMotorControllerConfig for chaining.

withClosedLoopController

public SmartMotorControllerConfig withClosedLoopController(ExponentialProfilePIDController controller)

Set the closed loop controller for the SmartMotorController with an exponential profile, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), outputs are in Volts.

Parameters:

controller - ExponentialProfilePIDController to use, the units passed in are in Rotations and output is Voltage.

Returns:

SmartMotorControllerConfig for chaining.

withClosedLoopController

public SmartMotorControllerConfig withClosedLoopController(double kP,
 double kI,
 double kD)

Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), the outputs are in Volts.

Parameters:

kP - KP scalar for the PID Controller, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), the outputs are in Volts.

kI - KI scalar for the PID Controller, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), the outputs are in Volts.

kD - KD scalar for the PID Controller, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), the outputs are in Volts.

Returns:

SmartMotorControllerConfig for chaining.

withClosedLoopController

public SmartMotorControllerConfig withClosedLoopController(PIDController controller)

Set the closed loop controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), the outputs are in Volts.

Parameters:

controller - PIDController to use, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), the outputs are in Volts.

Returns:

SmartMotorControllerConfig for chaining.

withClosedLoopController

public SmartMotorControllerConfig withClosedLoopController(double kP,
 double kI,
 double kD,
 LinearVelocity maxVelocity,
 LinearAcceleration maxAcceleration)

Set the closed loop controller for the SmartMotorController. Units are Meters.

Parameters:

kP - KP scalar for the PID Controller, the units passed in are in Meters and output is Voltage.

kI - KI scalar for the PID Controller, the units passed in are in Meters and output is Voltage.

kD - KD scalar for the PID Controller, the units passed in are in Meters and output is Voltage.

maxVelocity - Maximum linear velocity for the Trapezoidal profile.

maxAcceleration - Maximum linear acceleration for the Trapezoidal profile.

Returns:

SmartMotorControllerConfig for chaining.

withClosedLoopController

public SmartMotorControllerConfig withClosedLoopController(double kP,
 double kI,
 double kD,
 AngularVelocity maxVelocity,
 AngularAcceleration maxAcceleration)

Set the closed loop controller for the SmartMotorController. Units are Meters.

Parameters:

kP - KP scalar for the PID Controller, the units passed in are in Rotations and output is Voltage.

kI - KI scalar for the PID Controller, the units passed in are in Rotations and output is Voltage.

kD - KD scalar for the PID Controller, the units passed in are in Rotations and output is Voltage.

maxVelocity - Maximum angular velocity for the Trapezoidal profile.

maxAcceleration - Maximum angular acceleration for the Trapezoidal profile.

Returns:

SmartMotorControllerConfig for chaining.

getClosedLoopController

public Optional<ProfiledPIDController> getClosedLoopController()

Get the controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), the outputs are in Volts.

Returns:

ProfiledPIDController

getExponentiallyProfiledClosedLoopController

public Optional<ExponentialProfilePIDController> getExponentiallyProfiledClosedLoopController()

Get the controller for the SmartMotorController, the units passed in are in Rotations (or Meters if Mechanism Circumference is configured), the outputs are in Volts.

Returns:

ExponentialProfilePIDController

getSimpleClosedLoopController

public Optional<PIDController> getSimpleClosedLoopController()

Get the simple closed loop controller without motion profiling.

Returns:

PIDController if it exists.

withSimFeedforward

public SmartMotorControllerConfig withSimFeedforward(SimpleMotorFeedforward simpleFeedforward)

Set the SimpleMotorFeedforward for SmartMotorController, units are in Rotations.

Parameters:

simpleFeedforward - SimpleMotorFeedforward

Returns:

SmartMotorControllerConfig for chaining.

withFeedforward

public SmartMotorControllerConfig withFeedforward(SimpleMotorFeedforward simpleFeedforward)

Set the SimpleMotorFeedforward for SmartMotorController, units are in Rotations

Parameters:

simpleFeedforward - SimpleMotorFeedforward

Returns:

SmartMotorControllerConfig for chaining.

getClosedLoopControlPeriod

public Optional<Time> getClosedLoopControlPeriod()

Get the period of the SmartMotorController closed loop period.

Returns:

SmartMotorController closed loop controller period.

getGearing

public MechanismGearing getGearing()

Get the gearing to convert rotor rotations to mechanisms rotations connected to the SmartMotorController

Returns:

MechanismGearing representing the gearbox and sprockets attached to the SmartMotorController.

getExternalEncoder

public Optional<Object> getExternalEncoder()

Get the external encoder.

Returns:

Attached external encoder.

getOpenLoopRampRate

public Time getOpenLoopRampRate()

Get the open loop ramp rate.

Returns:

Open loop ramp rate.

getClosedLoopRampRate

public Time getClosedLoopRampRate()

Get the closed loop ramp rate.

Returns:

Closed loop ramp.

getVerbosity

public Optional<SmartMotorControllerConfig.TelemetryVerbosity> getVerbosity()

Get Telemetry verbosity.

Returns:

Verbosity for telemetry.

getTelemetryName

public Optional<String> getTelemetryName()

Telemetry name.

Returns:

Telemetry name for NetworkTables.

getSubsystem

public Subsystem getSubsystem()

Get the subsystem controlled by the SmartMotorController

Returns:

Subsystem controlled.

convertToMechanism

public AngularVelocity convertToMechanism(LinearVelocity velocity)

Convert LinearVelocity to AngularVelocity using the mechanismCircumference

Parameters:

velocity - Linear velocity to convert.

Returns:

Equivalent angular velocity.

convertToMechanism

public AngularAcceleration convertToMechanism(LinearAcceleration acceleration)

Convert LinearAcceleration to AngularAcceleration using the mechanismCircumference

Parameters:

acceleration - Linear acceleration to convert.

Returns:

Equivalent angular acceleration.

convertToMechanism

public Angle convertToMechanism(Distance distance)

Convert Distance to Angle using mechanismCircumference

Parameters:

distance - Distance to convert to Angle

Returns:

Angle of distance.

convertFromMechanism

public Distance convertFromMechanism(Angle rotations)

Convert Angle to Distance using mechanismCircumference

Parameters:

rotations - Rotations to convert.

Returns:

Distance of the mechanism.

convertFromMechanism

public LinearVelocity convertFromMechanism(AngularVelocity velocity)

Convert Angle to LinearVelocity using mechanismCircumference

Parameters:

velocity - Velocity to convert.

Returns:

Velocity of the mechanism.

convertFromMechanism

public LinearAcceleration convertFromMechanism(AngularAcceleration acceleration)

Convert Angle to LinearAcceleration using mechanismCircumference

Parameters:

acceleration - Rotations to convert.

Returns:

Acceleration of the mechanism.

getZeroOffset

public Optional<Angle> getZeroOffset()

Get the zero offset for the SmartMotorController

Returns:

Angle offset.

getTemperatureCutoff

public Optional<Temperature> getTemperatureCutoff()

Get the temperature cut off for the SmartMotorController

Returns:

Maximum Temperature

getEncoderInverted

public boolean getEncoderInverted()

Get the encoder inversion state

Returns:

encoder inversion state

getMotorInverted

public boolean getMotorInverted()

Get the motor inversion state

Returns:

moto inversion state.

getUseExternalFeedback

public boolean getUseExternalFeedback()

Use the external feedback sensor.

Returns:

Use the attached absolute encoder.

getStartingPosition

public Optional<Angle> getStartingPosition()

Get the starting mechanism position of the SmartMotorController

Returns:

Starting Mechanism position.

getClosedLoopControllerMaximumVoltage

public Optional<Voltage> getClosedLoopControllerMaximumVoltage()

Get the closed loop maximum voltage.

Returns:

Maximum voltage in Volts.

getFeedbackSynchronizationThreshold

public Optional<Angle> getFeedbackSynchronizationThreshold()

Get the feedback synchronization threshold.

Returns:

Feedback synchronization threshold.

getMotorControllerMode

public SmartMotorControllerConfig.ControlMode getMotorControllerMode()

Get the motor controller mdoe to use.

Returns:

SmartMotorControllerConfig.ControlMode to use.

getExternalEncoderGearing

public MechanismGearing getExternalEncoderGearing()

Get the external encoder gearing, default is 1:1 on a MAXPlanetary.

Returns:

External encoder gearing.

withExternalEncoderGearing

public SmartMotorControllerConfig withExternalEncoderGearing(MechanismGearing externalEncoderGearing)

Set the external encoder gearing.

Parameters:

externalEncoderGearing - External encoder gearing.

Returns:

SmartMotorControllerConfig for chaining.

withExternalEncoderGearing

public SmartMotorControllerConfig withExternalEncoderGearing(double reductionRatio)

Set the external encoder gearing.

Parameters:

reductionRatio - External encoder gearing. For example, a ratio of "3:1" is 3; "1:2" is 0.5

Returns:

SmartMotorControllerConfig for chaining.

getMaxDiscontinuityPoint

public Optional<Angle> getMaxDiscontinuityPoint()

Get the discontinuity point for the SmartMotorController encoder.

Returns:

Angle where the encoder wraps around.

getMinDiscontinuityPoint

public Optional<Angle> getMinDiscontinuityPoint()

Get the discontinuity point for the SmartMotorController encoder.

Returns:

Angle where the encoder wraps around.

getLooselyCoupledFollowers

public Optional<SmartMotorController[]> getLooselyCoupledFollowers()

Get the loosely coupled follower motors.

Returns:

SmartMotorController list of loosely coupled followers.

resetValidationCheck

public void resetValidationCheck()

Reset the validation checks for all required options to be applied to SmartMotorController from SmartMotorController.applyConfig(SmartMotorControllerConfig).

validateBasicOptions

public void validateBasicOptions()

Validate all required options are at least fetched and handled in each SmartMotorController wrapper.

validateExternalEncoderOptions

public void validateExternalEncoderOptions()

Validate external encoder config options for the config.

getExternalEncoderInverted

public boolean getExternalEncoderInverted()

Get whether or not the external encoder is inverted.

Returns:

External encoder inversion state