Package yams.motorcontrollers.local

Class NovaWrapper

java.lang.Object

yams.motorcontrollers.SmartMotorController

yams.motorcontrollers.local.NovaWrapper

public class NovaWrapper
extends SmartMotorController

Nova wrapper for SmartMotorController

Field Summary

Fields inherited from class yams.motorcontrollers.SmartMotorController

m_closedLoopControllerThread, m_config, m_expoPidController, m_looseFollowers, m_pidController, m_simplePidController, m_simSupplier, parentTable, setpointPosition, setpointVelocity, telemetry, telemetryConfig, telemetryTable, tuningTable

Constructor Summary

Constructors

Constructor	Description
NovaWrapper(com.thethriftybot.devices.ThriftyNova controller, DCMotor motor, SmartMotorControllerConfig config)	Construct the Nova Wrapper for the generic SmartMotorController.

Method Summary

Modifier and Type	Method	Description
boolean	applyConfig(SmartMotorControllerConfig config)	Apply the SmartMotorControllerConfig to the SmartMotorController.
SmartMotorControllerConfig	getConfig()	Get the SmartMotorControllerConfig for the SmartMotorController
DCMotor	getDCMotor()	Get the DCMotor modeling the motor controlled by the motor controller.
double	getDutyCycle()	Get the duty cycle output of the motor controller.
Distance	getMeasurementPosition()	Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig.
LinearVelocity	getMeasurementVelocity()	Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig.
Angle	getMechanismPosition()	Get the mechanism Angle taking the configured MechanismGearing from SmartMotorControllerConfig.
AngularVelocity	getMechanismVelocity()	Get the Mechanism AngularVelocity taking the configured MechanismGearing into the measurement applied via the SmartMotorControllerConfig.
Object	getMotorController()	Get the Motor Controller Object passed into the SmartMotorController.
Object	getMotorControllerConfig()	Get the motor controller object config generated by SmartMotorController based off the SmartMotorControllerConfig
Angle	getRotorPosition()	Get the rotations of the motor with the relative encoder since the motor controller powered on scaled to the mechanism rotations.
AngularVelocity	getRotorVelocity()	Gets the angular velocity of the motor.
Current	getStatorCurrent()	Get the stator current of the motor controller.
Optional<Current>	getSupplyCurrent()	Get the supply current of the motor controller.
Temperature	getTemperature()	Get the SmartMotorController temperature.
Pair<Optional<List<SmartMotorControllerTelemetry.BooleanTelemetryField>>,Optional<List<SmartMotorControllerTelemetry.DoubleTelemetryField>>>	getUnsupportedTelemetryFields()	Get a list of unsupported telemetry fields if any exist.
Voltage	getVoltage()	Get the voltage output of the motor.
void	seedRelativeEncoder()	Seed the relative encoder with the position from the absolute encoder.
void	setClosedLoopRampRate(Time rampRate)	Set the closed loop ramp rate.
void	setDutyCycle(double dutyCycle)	Set the dutycycle output of the motor controller.
void	setEncoderInverted(boolean inverted)	Set the phase of the encoder attached to the brushless motor.
void	setEncoderPosition(Angle angle)	Set the encoder position
void	setEncoderPosition(Distance distance)	Set the encoder position.
void	setEncoderVelocity(AngularVelocity velocity)	Set the encoder velocity
void	setEncoderVelocity(LinearVelocity velocity)	Set the encoder velocity.
void	setFeedback(double kP, double kI, double kD)	Set the closed loop feedback controller PID.
void	setFeedforward(double kS, double kV, double kA, double kG)	Set the feedforward controller.
void	setIdleMode(SmartMotorControllerConfig.MotorMode mode)	Set the motor idle mode from COAST or BRAKE.
void	setKa(double kA)	Acceleration feedforward element.
void	setKd(double kD)	Set kD for the feedback controller PID.
void	setKg(double kG)	kSin feedforward element.
void	setKi(double kI)	Set kI for the feedback controller PID.
void	setKp(double kP)	Set kP for the feedback controller PID.
void	setKs(double kS)	Static feedforward element.
void	setKv(double kV)	Velocity feedforward element.
void	setMeasurementLowerLimit(Distance lowerLimit)	Set the measurement lower limit, only works if mechanism circumference is defined.
void	setMeasurementUpperLimit(Distance upperLimit)	Set the measurement upper limit, only works if mechanism circumference is defined.
void	setMechanismLowerLimit(Angle lowerLimit)	Set the mechanism lower limit.
void	setMechanismUpperLimit(Angle upperLimit)	Set the mechanism upper limit.
void	setMotionProfileMaxAcceleration(AngularAcceleration maxAcceleration)	Set the maximum acceleration for the trapezoidal profile for the feedback controller.
void	setMotionProfileMaxAcceleration(LinearAcceleration maxAcceleration)	Set the maximum acceleration of the trapezoidal profile for the feedback controller.
void	setMotionProfileMaxVelocity(AngularVelocity maxVelocity)	Set the maximum velocity for the trapezoidal profile for the feedback controller.
void	setMotionProfileMaxVelocity(LinearVelocity maxVelocity)	Set the maximum velocity of the trapezoidal profile for the feedback controller.
void	setMotorInverted(boolean inverted)	Set the inversion state of the motor.
void	setOpenLoopRampRate(Time rampRate)	Deprecated.
void	setPosition(Angle angle)	Set the Mechanism Angle using the PID and feedforward from SmartMotorControllerConfig.
void	setPosition(Distance distance)	Set the Mechanism Distance using the PID and feedforward from SmartMotorControllerConfig.
void	setStatorCurrentLimit(Current currentLimit)	Set the stator current limit for the device.
void	setSupplyCurrentLimit(Current currentLimit)	Set the supply current limit.
void	setupSimulation()	Setup the simulation for the wrapper.
void	setVelocity(AngularVelocity angularVelocity)	Set the Mechanism AngularVelocity using the PID and feedforward from SmartMotorControllerConfig.
void	setVelocity(LinearVelocity velocity)	Set the Mechanism LinearVelocity using the PID and feedforward from SmartMotorControllerConfig.
void	setVoltage(Voltage voltage)	Set the voltage output of the motor controller.
void	simIterate()	Simulation iteration.
void	synchronizeRelativeEncoder()	Check if the relative encoder is out of sync with absolute encoder within defined tolerances.

Methods inherited from class yams.motorcontrollers.SmartMotorController

checkConfigSafety, close, create, getMechanismPositionSetpoint, getMechanismSetpointVelocity, getName, getSimSupplier, getSysIdConfig, isMotor, iterateClosedLoopController, setSimSupplier, setupTelemetry, setupTelemetry, startClosedLoopController, stopClosedLoopController, sysId, updateTelemetry

Methods inherited from class java.lang.Object

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

Constructor Details

NovaWrapper

public NovaWrapper(com.thethriftybot.devices.ThriftyNova controller,
 DCMotor motor,
 SmartMotorControllerConfig config)

Construct the Nova Wrapper for the generic SmartMotorController.

Parameters:

controller - ThriftyNova to use.

motor - DCMotor connected to the ThriftyNova.

config - SmartMotorControllerConfig to apply to the ThriftyNova.

Method Details

setupSimulation

public void setupSimulation()

Description copied from class: SmartMotorController

Setup the simulation for the wrapper.

Specified by:

setupSimulation in class SmartMotorController

seedRelativeEncoder

public void seedRelativeEncoder()

Description copied from class: SmartMotorController

Seed the relative encoder with the position from the absolute encoder.

Specified by:

seedRelativeEncoder in class SmartMotorController

synchronizeRelativeEncoder

public void synchronizeRelativeEncoder()

Description copied from class: SmartMotorController

Check if the relative encoder is out of sync with absolute encoder within defined tolerances.

Specified by:

synchronizeRelativeEncoder in class SmartMotorController

simIterate

public void simIterate()

Description copied from class: SmartMotorController

Simulation iteration.

Specified by:

simIterate in class SmartMotorController

setIdleMode

public void setIdleMode(SmartMotorControllerConfig.MotorMode mode)

Description copied from class: SmartMotorController

Set the motor idle mode from COAST or BRAKE.

Specified by:

setIdleMode in class SmartMotorController

Parameters:

mode - SmartMotorControllerConfig.MotorMode selected.

setEncoderVelocity

public void setEncoderVelocity(AngularVelocity velocity)

Description copied from class: SmartMotorController

Set the encoder velocity

Specified by:

setEncoderVelocity in class SmartMotorController

Parameters:

velocity - AngularVelocity of the Mechanism.

setEncoderVelocity

public void setEncoderVelocity(LinearVelocity velocity)

Description copied from class: SmartMotorController

Set the encoder velocity.

Specified by:

setEncoderVelocity in class SmartMotorController

Parameters:

velocity - Measurement LinearVelocity

setEncoderPosition

public void setEncoderPosition(Angle angle)

Description copied from class: SmartMotorController

Set the encoder position

Specified by:

setEncoderPosition in class SmartMotorController

Parameters:

angle - Mechanism Angle to reach.

setEncoderPosition

public void setEncoderPosition(Distance distance)

Description copied from class: SmartMotorController

Set the encoder position.

Specified by:

setEncoderPosition in class SmartMotorController

Parameters:

distance - Measurement Distance to reach.

setPosition

public void setPosition(Angle angle)

Description copied from class: SmartMotorController

Set the Mechanism Angle using the PID and feedforward from SmartMotorControllerConfig.

Specified by:

setPosition in class SmartMotorController

Parameters:

angle - Mechanism angle to set.

setPosition

public void setPosition(Distance distance)

Description copied from class: SmartMotorController

Set the Mechanism Distance using the PID and feedforward from SmartMotorControllerConfig.

Specified by:

setPosition in class SmartMotorController

Parameters:

distance - Mechanism Distance to set.

setVelocity

public void setVelocity(LinearVelocity velocity)

Description copied from class: SmartMotorController

Set the Mechanism LinearVelocity using the PID and feedforward from SmartMotorControllerConfig.

Specified by:

setVelocity in class SmartMotorController

Parameters:

velocity - Mechanism LinearVelocity to target.

setVelocity

public void setVelocity(AngularVelocity angularVelocity)

Description copied from class: SmartMotorController

Set the Mechanism AngularVelocity using the PID and feedforward from SmartMotorControllerConfig.

Specified by:

setVelocity in class SmartMotorController

Parameters:

angularVelocity - Mechanism AngularVelocity to target.

applyConfig

public boolean applyConfig(SmartMotorControllerConfig config)

Description copied from class: SmartMotorController

Apply the SmartMotorControllerConfig to the SmartMotorController.

Specified by:

applyConfig in class SmartMotorController

Parameters:

config - SmartMotorControllerConfig to use.

Returns:

Successful Application of the configuration.

getDutyCycle

public double getDutyCycle()

Description copied from class: SmartMotorController

Get the duty cycle output of the motor controller.

Specified by:

getDutyCycle in class SmartMotorController

Returns:

DutyCyle of the motor controller.

setDutyCycle

public void setDutyCycle(double dutyCycle)

Description copied from class: SmartMotorController

Set the dutycycle output of the motor controller.

Specified by:

setDutyCycle in class SmartMotorController

Parameters:

dutyCycle - Value between [-1,1]

getSupplyCurrent

public Optional<Current> getSupplyCurrent()

Description copied from class: SmartMotorController

Get the supply current of the motor controller.

Specified by:

getSupplyCurrent in class SmartMotorController

Returns:

The supply current of the motor controller.

getStatorCurrent

public Current getStatorCurrent()

Description copied from class: SmartMotorController

Get the stator current of the motor controller.

Specified by:

getStatorCurrent in class SmartMotorController

Returns:

Stator current

getVoltage

public Voltage getVoltage()

Description copied from class: SmartMotorController

Get the voltage output of the motor.

Specified by:

getVoltage in class SmartMotorController

Returns:

Voltage output of the motor.

setVoltage

public void setVoltage(Voltage voltage)

Description copied from class: SmartMotorController

Set the voltage output of the motor controller. Useful for Sysid.

Specified by:

setVoltage in class SmartMotorController

Parameters:

voltage - Voltage to set the motor controller output to.

getDCMotor

public DCMotor getDCMotor()

Description copied from class: SmartMotorController

Get the DCMotor modeling the motor controlled by the motor controller.

Specified by:

getDCMotor in class SmartMotorController

Returns:

DCMotor of the controlled motor.

getMeasurementVelocity

public LinearVelocity getMeasurementVelocity()

Description copied from class: SmartMotorController

Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig.

Specified by:

getMeasurementVelocity in class SmartMotorController

Returns:

Measurement velocity of the mechanism post-gearing.

getMeasurementPosition

public Distance getMeasurementPosition()

Description copied from class: SmartMotorController

Get the usable measurement of the motor for mechanisms operating under distance units converted with the SmartMotorControllerConfig.

Specified by:

getMeasurementPosition in class SmartMotorController

Returns:

Measurement velocity of the mechanism post-gearing.

getMechanismVelocity

public AngularVelocity getMechanismVelocity()

Description copied from class: SmartMotorController

Get the Mechanism AngularVelocity taking the configured MechanismGearing into the measurement applied via the SmartMotorControllerConfig.

Specified by:

getMechanismVelocity in class SmartMotorController

Returns:

Mechanism AngularVelocity

getMechanismPosition

public Angle getMechanismPosition()

Description copied from class: SmartMotorController

Get the mechanism Angle taking the configured MechanismGearing from SmartMotorControllerConfig.

Specified by:

getMechanismPosition in class SmartMotorController

Returns:

Mechanism Angle

getRotorVelocity

public AngularVelocity getRotorVelocity()

Description copied from class: SmartMotorController

Gets the angular velocity of the motor.

Specified by:

getRotorVelocity in class SmartMotorController

Returns:

AngularVelocity of the relative motor encoder.

getRotorPosition

public Angle getRotorPosition()

Description copied from class: SmartMotorController

Get the rotations of the motor with the relative encoder since the motor controller powered on scaled to the mechanism rotations.

Specified by:

getRotorPosition in class SmartMotorController

Returns:

Angle of the relative encoder in the motor.

setMotorInverted

public void setMotorInverted(boolean inverted)

Description copied from class: SmartMotorController

Set the inversion state of the motor.

Specified by:

setMotorInverted in class SmartMotorController

Parameters:

inverted - Inverted motor.

setEncoderInverted

public void setEncoderInverted(boolean inverted)

Description copied from class: SmartMotorController

Set the phase of the encoder attached to the brushless motor.

Specified by:

setEncoderInverted in class SmartMotorController

Parameters:

inverted - Phase of the encoder.

setMotionProfileMaxVelocity

public void setMotionProfileMaxVelocity(LinearVelocity maxVelocity)

Description copied from class: SmartMotorController

Set the maximum velocity of the trapezoidal profile for the feedback controller.

Specified by:

setMotionProfileMaxVelocity in class SmartMotorController

Parameters:

maxVelocity - Maximum velocity, will be translated to MetersPerSecond.

setMotionProfileMaxAcceleration

public void setMotionProfileMaxAcceleration(LinearAcceleration maxAcceleration)

Description copied from class: SmartMotorController

Set the maximum acceleration of the trapezoidal profile for the feedback controller.

Specified by:

setMotionProfileMaxAcceleration in class SmartMotorController

Parameters:

maxAcceleration - Maximum acceleration, will be translated to MetersPerSecondPerSecond.

setMotionProfileMaxVelocity

public void setMotionProfileMaxVelocity(AngularVelocity maxVelocity)

Description copied from class: SmartMotorController

Set the maximum velocity for the trapezoidal profile for the feedback controller.

Specified by:

setMotionProfileMaxVelocity in class SmartMotorController

Parameters:

maxVelocity - Maximum velocity, will be translated to RotationsPerSecond.

setMotionProfileMaxAcceleration

public void setMotionProfileMaxAcceleration(AngularAcceleration maxAcceleration)

Description copied from class: SmartMotorController

Set the maximum acceleration for the trapezoidal profile for the feedback controller.

Specified by:

setMotionProfileMaxAcceleration in class SmartMotorController

Parameters:

maxAcceleration - Maximum acceleration, will be translated to RotationsPerSecondPerSecond.

setKp

public void setKp(double kP)

Description copied from class: SmartMotorController

Set kP for the feedback controller PID.

Specified by:

setKp in class SmartMotorController

Parameters:

kP - kP

setKi

public void setKi(double kI)

Description copied from class: SmartMotorController

Set kI for the feedback controller PID.

Specified by:

setKi in class SmartMotorController

Parameters:

kI - kI.

setKd

public void setKd(double kD)

Description copied from class: SmartMotorController

Set kD for the feedback controller PID.

Specified by:

setKd in class SmartMotorController

Parameters:

kD - kD for the feedback controller PID.

setFeedback

public void setFeedback(double kP,
 double kI,
 double kD)

Description copied from class: SmartMotorController

Set the closed loop feedback controller PID.

Specified by:

setFeedback in class SmartMotorController

Parameters:

kP - kP; Proportional scalar.

kI - kI; Integral scalar.

kD - kD; derivative scalar.

setKs

public void setKs(double kS)

Description copied from class: SmartMotorController

Static feedforward element.

Specified by:

setKs in class SmartMotorController

Parameters:

kS - kS; Static feedforward.

setKv

public void setKv(double kV)

Description copied from class: SmartMotorController

Velocity feedforward element.

Specified by:

setKv in class SmartMotorController

Parameters:

kV - kV; Velocity feedforward.

setKa

public void setKa(double kA)

Description copied from class: SmartMotorController

Acceleration feedforward element.

Specified by:

setKa in class SmartMotorController

Parameters:

kA - kA; Acceleration feedforward.

setKg

public void setKg(double kG)

Description copied from class: SmartMotorController

kSin feedforward element.

Specified by:

setKg in class SmartMotorController

Parameters:

kG - kG; Gravity feedforward.

setFeedforward

public void setFeedforward(double kS,
 double kV,
 double kA,
 double kG)

Description copied from class: SmartMotorController

Set the feedforward controller.

Specified by:

setFeedforward in class SmartMotorController

Parameters:

kS - kS; Static feedforward.

kV - kV; Velocity feedforward.

kA - kA; Acceleration feedforward.

kG - kG; Gravity feedforward.

setStatorCurrentLimit

public void setStatorCurrentLimit(Current currentLimit)

Description copied from class: SmartMotorController

Set the stator current limit for the device.

Specified by:

setStatorCurrentLimit in class SmartMotorController

Parameters:

currentLimit - Stator current limit.

setSupplyCurrentLimit

public void setSupplyCurrentLimit(Current currentLimit)

Description copied from class: SmartMotorController

Set the supply current limit.

Specified by:

setSupplyCurrentLimit in class SmartMotorController

Parameters:

currentLimit - Supply current limit.

setClosedLoopRampRate

public void setClosedLoopRampRate(Time rampRate)

Description copied from class: SmartMotorController

Set the closed loop ramp rate. The ramp rate is how fast the motor can go from 0-100, measured in seconds.

Specified by:

setClosedLoopRampRate in class SmartMotorController

Parameters:

rampRate - Time from 0 to 100.

setOpenLoopRampRate

@Deprecated
public void setOpenLoopRampRate(Time rampRate)

Deprecated.

Description copied from class: SmartMotorController

Set the open loop ramp rate. The ramp rate is how fast the motor can go from 0 to 100, measured in Seconds.

Specified by:

setOpenLoopRampRate in class SmartMotorController

Parameters:

rampRate - Time it takes to go from 0 to 100.

setMeasurementUpperLimit

public void setMeasurementUpperLimit(Distance upperLimit)

Description copied from class: SmartMotorController

Set the measurement upper limit, only works if mechanism circumference is defined.

Specified by:

setMeasurementUpperLimit in class SmartMotorController

Parameters:

upperLimit - Upper limit, will be translated to meters.

setMeasurementLowerLimit

public void setMeasurementLowerLimit(Distance lowerLimit)

Description copied from class: SmartMotorController

Set the measurement lower limit, only works if mechanism circumference is defined.

Specified by:

setMeasurementLowerLimit in class SmartMotorController

Parameters:

lowerLimit - Lower limit, will be translated to meters.

setMechanismUpperLimit

public void setMechanismUpperLimit(Angle upperLimit)

Description copied from class: SmartMotorController

Set the mechanism upper limit.

Specified by:

setMechanismUpperLimit in class SmartMotorController

Parameters:

upperLimit - Upper limit, will be translated to rotations.

setMechanismLowerLimit

public void setMechanismLowerLimit(Angle lowerLimit)

Description copied from class: SmartMotorController

Set the mechanism lower limit.

Specified by:

setMechanismLowerLimit in class SmartMotorController

Parameters:

lowerLimit - Lower limit, will be translated to rotations.

getTemperature

public Temperature getTemperature()

Description copied from class: SmartMotorController

Get the SmartMotorController temperature.

Specified by:

getTemperature in class SmartMotorController

Returns:

Temperature

getConfig

public SmartMotorControllerConfig getConfig()

Description copied from class: SmartMotorController

Get the SmartMotorControllerConfig for the SmartMotorController

Specified by:

getConfig in class SmartMotorController

Returns:

SmartMotorControllerConfig used.

getMotorController

public Object getMotorController()

Description copied from class: SmartMotorController

Get the Motor Controller Object passed into the SmartMotorController.

Specified by:

getMotorController in class SmartMotorController

Returns:

Motor Controller object.

getMotorControllerConfig

public Object getMotorControllerConfig()

Description copied from class: SmartMotorController

Get the motor controller object config generated by SmartMotorController based off the SmartMotorControllerConfig

Specified by:

getMotorControllerConfig in class SmartMotorController

Returns:

Motor controller config.

getUnsupportedTelemetryFields

public Pair<Optional<List<SmartMotorControllerTelemetry.BooleanTelemetryField>>,Optional<List<SmartMotorControllerTelemetry.DoubleTelemetryField>>> getUnsupportedTelemetryFields()

Description copied from class: SmartMotorController

Get a list of unsupported telemetry fields if any exist.

Specified by:

getUnsupportedTelemetryFields in class SmartMotorController

Returns:

Optional list of unsupported telemetry fields.