Package tagalong.subsystems.micro

Class Roller

java.lang.Object

tagalong.subsystems.micro.Microsystem

tagalong.subsystems.micro.Roller

public class Roller
extends Microsystem

Roller microsystem

Field Summary

Fields

Modifier and Type	Field	Description
protected double	_curSimAngle	Simulated current angle of the roller
final double	_defaultRollerLowerToleranceRot	Default lower tolerance for roller in rotations
final double	_defaultRollerUpperToleranceRot	Default upper tolerance for roller in rotations
final double	_maxAccelerationRPS2	Maximum acceleration in rotations per second squared
final double	_maxVelocityRPS	Maximum velocity in rotations per second
final RollerConf	_rollerConf	Configuration for the roller
protected SimpleMotorFeedforward	_rollerFF	Feedforward model of the roller
protected FlywheelSim	_rollerSim	Flywheel simulation for the roller motor
protected double	_simAccelRPM2	Simulated acceleration in rotations per minute squared
protected double	_simRotations	Simulated number of rotations
protected double	_simVeloRPM	Simulated velocity in rotations per minute

Fields inherited from class tagalong.subsystems.micro.Microsystem

_allMotors, _conf, _configuredMicrosystemDisable, _currentPositionEntry, _currentVelocityEntry, _curState, _followProfile, _goalState, _isFFTuningMicro, _isMicrosystemDisabled, _isPIDTuningMicro, _isShuffleboardMicro, _KAEntry, _KGEntry, _KSEntry, _KVEntry, _mechanism, _primaryMotor, _primaryMotorSim, _profileTimer, _requestedPositionVoltage, _requestedTorqueCurrent, _requestedVelocityVoltage, _root, _slot0DFactorEntry, _slot0IFactorEntry, _slot0PFactorEntry, _slot1DFactorEntry, _slot1IFactorEntry, _slot1PFactorEntry, _slot2DFactorEntry, _slot2IFactorEntry, _slot2PFactorEntry, _targetPositionEntry, _targetVelocityEntry, _toleranceTimer, _trapProfile, _tuningTabCounter

Constructor Summary

Constructors

Constructor	Description
Roller(RollerConf conf)	Constructs a roller microsystem with the below configurations

Method Summary

Modifier and Type	Method	Description
void	configShuffleboard()	Configures a user interface on the Shuffleboard for the specified micro system
void	followLastProfile()	Calculates the next state according to the trapezoidal profile and requests the roller motor(s) to arrive at the next position with feedforward
ArrayList<MechanismLigament2d>	getRollerLigaments()	Retrieves ligaments attached to roller Mechanism2d
double	getRollerPosition()	Gets the position of the roller in rotations
double	getRollerPower()	Gets the power of the primary roller motor
double	getRollerVelocity()	Gets the velocity of roller in rotations
void	holdCurrentPosition()	Sets the power of the primary motor to zero
boolean	isRollerAtTargetSpeed(double targetSpeed)	Checks if the roller is at the target speed
boolean	isRollerInTolerance(double lowerBound, double upperBound)	Bounds checking function that uses the current roller position
boolean	motorResetConfig()
double	motorToRollerRot(double motorRot)	Converts motor rotations to roller rotations
void	onDisable()	returns nothing if micro system is disabled
void	onEnable()	Sets break mode for all motors If system is in PID tuning mode is updates all PID related settings If the system is in Feedforward Tuning mode, it sets the primary motor to coast mode.
void	periodic()	Periodic update function
double	rollerRotToMotor(double rollerRot)	Converts motor rotations to roller rotations
void	setRollerPower(double power)	Sets the power of the primary roller motor
Command	setRollerPowerCmd(double power)	Command that sets the roller power
void	setRollerProfile(double goalPositionRot)	Creates a new trapezoidal profile for the roller to follow
void	setRollerProfile(double goalPositionRot, double goalVelocityRPS)	Creates a new trapezoidal profile for the roller to follow
void	setRollerProfile(double goalPositionRot, double goalVelocityRPS, double maxVelocityRPS)	Creates a new trapezoidal profile for the roller to follow
void	setRollerProfile(double goalPositionRot, double goalVelocityRPS, double maxVelocityRPS, double maxAccelerationRPS2)	Creates a new trapezoidal profile for the roller to follow
void	setRollerProfile(double goalPositionRot, double goalVelocityRPS, double maxVelocityRPS, double maxAccelerationRPS2, boolean setCurrentState)	Creates a new trapezoidal profile for the roller to follow
void	setRollerProfile(Angle goalPosition)	Creates a new trapezoidal profile for the roller to follow
void	setRollerProfile(Angle goalPosition, double goalVelocityRPS)	Creates a new trapezoidal profile for the roller to follow
void	setRollerProfile(Angle goalPosition, double goalVelocityRPS, double maxVelocityRPS)	Creates a new trapezoidal profile for the roller to follow
void	setRollerProfile(Angle goalPosition, double goalVelocityRPS, double maxVelocityRPS, double maxAccelerationRPS2)	Creates a new trapezoidal profile for the roller to follow
void	setRollerProfile(Angle goalPosition, double goalVelocityRPS, double maxVelocityRPS, double maxAccelerationRPS2, boolean setCurrentState)	Creates a new trapezoidal profile for the roller to follow
Command	setRollerRPSCmd(double rps)	Command that sets the velocity of the roller in rotations per second
Command	setRollerRPSWithFFCmd(double rps)	Command that sets the velocity of the roller in rotations per second with feedforward
void	setRollerVelocity(double rps, boolean withFF)	Sets the velocity of the roller in RPS
void	simulationInit()	Initializes simulation
void	simulationPeriodic()	Periodic function during simulation
Command	startEndRollerPowerCmd(double power)	Command that sets the power of the primary motor (zero if interrupted)
Command	startEndRollerRPSCmd(double rps)	Command that sets the velocity of the roller in rotations per second (sets zero power if interrupted)
Command	startEndRollerRPSWithFFCmd(double rps)	Command that sets the velocity of the roller in rotations per second with feedforward.
void	updateShuffleboard()	Updates shuffleboard

Methods inherited from class tagalong.subsystems.micro.Microsystem

checkInitStatus, checkToleranceTime, configAllDevices, configTuningModes, disableMicrosystem, getPrimaryMotor, getPrimaryMotorPosition, getPrimaryMotorPower, getPrimaryMotorVelocity, getRoot, isProfileFinished, onTeleopDisable, resetToleranceTimer, setBrakeMode, setFollowProfile, setHoldPosition, setPrimaryPower, updateAllPIDSGVA, waitForInitialization

Methods inherited from class java.lang.Object

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

Field Details

_rollerConf

public final RollerConf _rollerConf

Configuration for the roller

_defaultRollerLowerToleranceRot

public final double _defaultRollerLowerToleranceRot

Default lower tolerance for roller in rotations

_defaultRollerUpperToleranceRot

public final double _defaultRollerUpperToleranceRot

Default upper tolerance for roller in rotations

_maxVelocityRPS

public final double _maxVelocityRPS

Maximum velocity in rotations per second

_maxAccelerationRPS2

public final double _maxAccelerationRPS2

Maximum acceleration in rotations per second squared

_rollerFF

protected SimpleMotorFeedforward _rollerFF

Feedforward model of the roller

_rollerSim

protected FlywheelSim _rollerSim

Flywheel simulation for the roller motor

_simRotations

protected double _simRotations

Simulated number of rotations

_simVeloRPM

protected double _simVeloRPM

Simulated velocity in rotations per minute

_simAccelRPM2

protected double _simAccelRPM2

Simulated acceleration in rotations per minute squared

_curSimAngle

protected double _curSimAngle

Simulated current angle of the roller

Constructor Details

Roller

public Roller(RollerConf conf)

Constructs a roller microsystem with the below configurations

Parameters:

conf - Configuration for the roller

Method Details

onEnable

public void onEnable()

Description copied from class: Microsystem

Sets break mode for all motors If system is in PID tuning mode is updates all PID related settings If the system is in Feedforward Tuning mode, it sets the primary motor to coast mode.

Overrides:

onEnable in class Microsystem

onDisable

public void onDisable()

Description copied from class: Microsystem

returns nothing if micro system is disabled

Overrides:

onDisable in class Microsystem

periodic

public void periodic()

Periodic update function

Overrides:

periodic in class Microsystem

simulationInit

public void simulationInit()

Description copied from class: Microsystem

Initializes simulation

Overrides:

simulationInit in class Microsystem

simulationPeriodic

public void simulationPeriodic()

Description copied from class: Microsystem

Periodic function during simulation

Overrides:

simulationPeriodic in class Microsystem

motorResetConfig

public boolean motorResetConfig()

Overrides:

motorResetConfig in class Microsystem

Returns:

boolean (micro system is enabled and the primary motor has been reset and if successful, it reconfigures the devices and returns true)

updateShuffleboard

public void updateShuffleboard()

Description copied from class: Microsystem

Updates shuffleboard

Overrides:

updateShuffleboard in class Microsystem

configShuffleboard

public void configShuffleboard()

Description copied from class: Microsystem

Configures a user interface on the Shuffleboard for the specified micro system

Overrides:

configShuffleboard in class Microsystem

motorToRollerRot

public double motorToRollerRot(double motorRot)

Converts motor rotations to roller rotations

Parameters:

motorRot - motor rotations

Returns:

roller rotations converted from motor rotations

rollerRotToMotor

public double rollerRotToMotor(double rollerRot)

Converts motor rotations to roller rotations

Parameters:

rollerRot - roller rotations

Returns:

motor rotations converted from roller rotations

followLastProfile

public void followLastProfile()

Calculates the next state according to the trapezoidal profile and requests the roller motor(s) to arrive at the next position with feedforward

setRollerProfile

public void setRollerProfile(Angle goalPosition)

Creates a new trapezoidal profile for the roller to follow

Parameters:

goalPosition - goal position in rotations

setRollerProfile

public void setRollerProfile(Angle goalPosition,
 double goalVelocityRPS)

Creates a new trapezoidal profile for the roller to follow

Parameters:

goalPosition - goal position in rotations

goalVelocityRPS - goal velocity in rotations per second

setRollerProfile

public void setRollerProfile(Angle goalPosition,
 double goalVelocityRPS,
 double maxVelocityRPS)

Creates a new trapezoidal profile for the roller to follow

Parameters:

goalPosition - goal position in rotations

goalVelocityRPS - goal velocity in rotations per second

maxVelocityRPS - maximum velocity in rotations per second

setRollerProfile

public void setRollerProfile(Angle goalPosition,
 double goalVelocityRPS,
 double maxVelocityRPS,
 double maxAccelerationRPS2)

Creates a new trapezoidal profile for the roller to follow

Parameters:

goalPosition - goal position in rotations

goalVelocityRPS - goal velocity in rotations per second

maxVelocityRPS - maximum velocity in rotations per second

maxAccelerationRPS2 - maximum acceleration in rotations per second squared

setRollerProfile

public void setRollerProfile(Angle goalPosition,
 double goalVelocityRPS,
 double maxVelocityRPS,
 double maxAccelerationRPS2,
 boolean setCurrentState)

Creates a new trapezoidal profile for the roller to follow

Parameters:

goalPosition - goal position in rotations

goalVelocityRPS - goal velocity in rotations per second

maxVelocityRPS - maximum velocity in rotations per second

maxAccelerationRPS2 - maximum acceleration in rotations per second squared

setCurrentState - True if the profiles current state should base itself off sensor values rather than continue from the existing state

setRollerProfile

public void setRollerProfile(double goalPositionRot)

Creates a new trapezoidal profile for the roller to follow

Parameters:

goalPositionRot - goal position in rotations

setRollerProfile

public void setRollerProfile(double goalPositionRot,
 double goalVelocityRPS)

Creates a new trapezoidal profile for the roller to follow

Parameters:

goalPositionRot - goal position in rotations

goalVelocityRPS - goal velocity in rotations per second

setRollerProfile

public void setRollerProfile(double goalPositionRot,
 double goalVelocityRPS,
 double maxVelocityRPS)

Creates a new trapezoidal profile for the roller to follow

Parameters:

goalPositionRot - goal position in rotations

goalVelocityRPS - goal velocity in rotations per second

maxVelocityRPS - maximum velocity in rotations per second

setRollerProfile

public void setRollerProfile(double goalPositionRot,
 double goalVelocityRPS,
 double maxVelocityRPS,
 double maxAccelerationRPS2)

Creates a new trapezoidal profile for the roller to follow

Parameters:

goalPositionRot - goal position in rotations

goalVelocityRPS - goal velocity in rotations per second

maxVelocityRPS - maximum velocity in rotations per second

maxAccelerationRPS2 - maximum acceleration in rotations per second squared

setRollerProfile

public void setRollerProfile(double goalPositionRot,
 double goalVelocityRPS,
 double maxVelocityRPS,
 double maxAccelerationRPS2,
 boolean setCurrentState)

Creates a new trapezoidal profile for the roller to follow

Parameters:

goalPositionRot - goal position in rotations

goalVelocityRPS - goal velocity in rotations per second

maxVelocityRPS - maximum velocity in rotations per second

maxAccelerationRPS2 - maximum acceleration in rotations per second squared

setCurrentState - True if the profiles current state should base itself off sensor values rather than continue from the existing state

setRollerPower

public void setRollerPower(double power)

Sets the power of the primary roller motor

Parameters:

power - roller power

getRollerPower

public double getRollerPower()

Gets the power of the primary roller motor

Returns:

roller power

getRollerPosition

public double getRollerPosition()

Gets the position of the roller in rotations

Returns:

roller position in rotations

getRollerVelocity

public double getRollerVelocity()

Gets the velocity of roller in rotations

Returns:

roller velocity

setRollerVelocity

public void setRollerVelocity(double rps,
 boolean withFF)

Sets the velocity of the roller in RPS

Parameters:

rps - Desired velocity in rotations per second

withFF - with feedforward

isRollerAtTargetSpeed

public boolean isRollerAtTargetSpeed(double targetSpeed)

Checks if the roller is at the target speed

Parameters:

targetSpeed - target speed in rotations per second

Returns:

if roller is at target speed

setRollerPowerCmd

public Command setRollerPowerCmd(double power)

Command that sets the roller power

Parameters:

power - roller power

Returns:

instant command to set roller power

setRollerRPSCmd

public Command setRollerRPSCmd(double rps)

Command that sets the velocity of the roller in rotations per second

Parameters:

rps - rotations per second

Returns:

instant command to set roller velocity

setRollerRPSWithFFCmd

public Command setRollerRPSWithFFCmd(double rps)

Command that sets the velocity of the roller in rotations per second with feedforward

Parameters:

rps - rotations per second

Returns:

instant command to set roller velocity with feedforward

startEndRollerPowerCmd

public Command startEndRollerPowerCmd(double power)

Command that sets the power of the primary motor (zero if interrupted)

Parameters:

power - roller power

Returns:

start end command to set roller power

startEndRollerRPSCmd

public Command startEndRollerRPSCmd(double rps)

Command that sets the velocity of the roller in rotations per second (sets zero power if interrupted)

Parameters:

rps - rotations per second

Returns:

start end command to set roller velocity

startEndRollerRPSWithFFCmd

public Command startEndRollerRPSWithFFCmd(double rps)

Command that sets the velocity of the roller in rotations per second with feedforward. (sets zero power if interrupted)

Parameters:

rps - rotations per second

Returns:

start end command to set roller velocity with feedforward

isRollerInTolerance

public boolean isRollerInTolerance(double lowerBound,
 double upperBound)

Bounds checking function that uses the current roller position

Parameters:

lowerBound - minimum of acceptable range

upperBound - maximum of acceptable range

Returns:

if the current position is in specified acceptable range

holdCurrentPosition

public void holdCurrentPosition()

Description copied from class: Microsystem

Sets the power of the primary motor to zero

Overrides:

holdCurrentPosition in class Microsystem

getRollerLigaments

public ArrayList<MechanismLigament2d> getRollerLigaments()

Retrieves ligaments attached to roller Mechanism2d

Returns:

roller ligaments