Package tagalong.subsystems.micro.confs

Class ElevatorConf

java.lang.Object

tagalong.subsystems.micro.confs.MicrosystemConf

tagalong.subsystems.micro.confs.ElevatorConf

public class ElevatorConf
extends MicrosystemConf

Configuration for the elevator microsystem

Field Summary

Fields

Modifier and Type	Field	Description
final double	angle	Angle of the elevator
final MassUnits	carriageMassUnit	Unit of the carriage mass (default: kilograms)
final double	carriageMassValue	Value of the carriage mass
final double	drumCircumference	Value of the drum circumference
final double	drumDiameter	Value of the drumDiameter
final DistanceUnits	drumDiameterUnit	Unit for the drum diameter (default: meters)
final double	elevatorZeroingDurationS	Duration of stalling in seconds necessary for the elevator zero command to finish
final double	elevatorZeroingPower	Power for zeroing the elevator
final double	elevatorZeroingStallToleranceM	Positional tolerance in meters for zeroing the elevator
final ElevatorFeedforward	feedForward	Feedforward model for the elevator
final double	lineLength	Length of the line
final double	mech2dDim	Dimension of the mechanical system
final DistanceUnits	positionalLimitUnit	Units for the positional limit
final double	positionalMax	Values for the positional minimum and maximum
final double	positionalMin	Values for the positional minimum and maximum
final String	rootName	Sim root name
final double	rootX	Sim root x coordinate
final double	rootY	Sim root y coordinate
static final FeedforwardConstants	simFeedForward

Fields inherited from class tagalong.subsystems.micro.confs.MicrosystemConf

defaultLowerTolerance, defaultTolerancesUnit, defaultUpperTolerance, motorCanBus, motorConfig, motorDeviceIDs, motorDirection, motorDisabledBrakeMode, motorEnabledBrakeMode, motorToMechRatio, motorTypes, name, numMotors, trapezoidalAccelerationUnit, trapezoidalLimits, trapezoidalLimitsAcceleration, trapezoidalLimitsVelocity, trapezoidalVelocityUnit

Constructor Summary

Constructors

Constructor

Description

ElevatorConf(String name, Motors[] motorTypes, int[] motorDeviceIDs, String[] motorCanBus, com.ctre.phoenix6.signals.InvertedValue[] motorDirection, com.ctre.phoenix6.signals.NeutralModeValue[] motorEnabledBrakeMode, com.ctre.phoenix6.signals.NeutralModeValue[] motorDisabledBrakeMode, int[][] gearRatio, DistanceUnits positionalLimitsUnit, double positionalMin, double positionalMax, DistanceUnits trapezoidalLengthUnit, VelocityUnits trapezoidalVelocityUnit, double trapezoidalLimitsVelocity, AccelerationUnits trapezoidalAccelerationUnit, double trapezoidalLimitsAcceleration, DistanceUnits defaultTolerancesUnit, double defaultLowerTolerance, double defaultUpperTolerance, FeedforwardConstants feedForward, FeedforwardConstants simFeedForward, com.ctre.phoenix6.configs.CurrentLimitsConfigs currentLimitsConfigs, PIDSGVAConstants slot0, PIDSGVAConstants slot1, PIDSGVAConstants slot2, MassUnits carriageMassUnit, double carriageMassValue, double mech2dDim, String rootName, double rootX, double rootY, double lineLength, double angle, PIDSGVAConstants simSlot0, PIDSGVAConstants simSlot1, PIDSGVAConstants simSlot2, DistanceUnits drumDiameterUnit, double drumDiameter)

Method Summary

Methods inherited from class tagalong.subsystems.micro.confs.MicrosystemConf

calculateGearRatio

Methods inherited from class java.lang.Object

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

Field Details

positionalLimitUnit

public final DistanceUnits positionalLimitUnit

Units for the positional limit

positionalMin

public final double positionalMin

Values for the positional minimum and maximum

positionalMax

public final double positionalMax

Values for the positional minimum and maximum

drumDiameterUnit

public final DistanceUnits drumDiameterUnit

Unit for the drum diameter (default: meters)

drumDiameter

public final double drumDiameter

Value of the drumDiameter

drumCircumference

public final double drumCircumference

Value of the drum circumference

feedForward

public final ElevatorFeedforward feedForward

Feedforward model for the elevator

carriageMassUnit

public final MassUnits carriageMassUnit

Unit of the carriage mass (default: kilograms)

carriageMassValue

public final double carriageMassValue

Value of the carriage mass

mech2dDim

public final double mech2dDim

Dimension of the mechanical system

rootName

public final String rootName

Sim root name

rootX

public final double rootX

Sim root x coordinate

rootY

public final double rootY

Sim root y coordinate

lineLength

public final double lineLength

Length of the line

angle

public final double angle

Angle of the elevator

simFeedForward

public static final FeedforwardConstants simFeedForward

elevatorZeroingPower

public final double elevatorZeroingPower

Power for zeroing the elevator

See Also:

• Constant Field Values

elevatorZeroingStallToleranceM

public final double elevatorZeroingStallToleranceM

Positional tolerance in meters for zeroing the elevator

See Also:

• Constant Field Values

elevatorZeroingDurationS

public final double elevatorZeroingDurationS

Duration of stalling in seconds necessary for the elevator zero command to finish

See Also:

• Constant Field Values

Constructor Details

ElevatorConf

public ElevatorConf(String name,
 Motors[] motorTypes,
 int[] motorDeviceIDs,
 String[] motorCanBus,
 com.ctre.phoenix6.signals.InvertedValue[] motorDirection,
 com.ctre.phoenix6.signals.NeutralModeValue[] motorEnabledBrakeMode,
 com.ctre.phoenix6.signals.NeutralModeValue[] motorDisabledBrakeMode,
 int[][] gearRatio,
 DistanceUnits positionalLimitsUnit,
 double positionalMin,
 double positionalMax,
 DistanceUnits trapezoidalLengthUnit,
 VelocityUnits trapezoidalVelocityUnit,
 double trapezoidalLimitsVelocity,
 AccelerationUnits trapezoidalAccelerationUnit,
 double trapezoidalLimitsAcceleration,
 DistanceUnits defaultTolerancesUnit,
 double defaultLowerTolerance,
 double defaultUpperTolerance,
 FeedforwardConstants feedForward,
 FeedforwardConstants simFeedForward,
 com.ctre.phoenix6.configs.CurrentLimitsConfigs currentLimitsConfigs,
 PIDSGVAConstants slot0,
 PIDSGVAConstants slot1,
 PIDSGVAConstants slot2,
 MassUnits carriageMassUnit,
 double carriageMassValue,
 double mech2dDim,
 String rootName,
 double rootX,
 double rootY,
 double lineLength,
 double angle,
 PIDSGVAConstants simSlot0,
 PIDSGVAConstants simSlot1,
 PIDSGVAConstants simSlot2,
 DistanceUnits drumDiameterUnit,
 double drumDiameter)

Parameters:

name - name of the subsystem

motorTypes - array of motor types used

motorDeviceIDs - CAN IDs of the motors

motorCanBus - CAN buses which the motors are connected to

motorDirection - motor inversion settings

motorEnabledBrakeMode - brake mode when motors are enabled

motorDisabledBrakeMode - brake mode when motors are disabled

gearRatio - gear ratios

positionalLimitsUnit - units for positional limits on elevator

positionalMin - positional minimum on elevator

positionalMax - positional maximum on elevator

trapezoidalLengthUnit - units for trapezoidal motion length

trapezoidalVelocityUnit - units for trapezoidal motion velocityODO

trapezoidalLimitsVelocity - velocity limits for trapezoidal motion

trapezoidalAccelerationUnit - units for trapezoidal motion acceleration

trapezoidalLimitsAcceleration - acceleration limits for trapezoidal motion

defaultTolerancesUnit - default unit of the tolerance values

defaultLowerTolerance - default lower tolerance

defaultUpperTolerance - default upper tolerance

feedForward - feedforward constants

simFeedForward - simulated feedforward constants

currentLimitsConfigs - current limit configurations

slot0 - PID slot 0 configuration

slot1 - PID slot 1 configuration

slot2 - PID slot 2 configuration

carriageMassUnit - units for the carriage mass

carriageMassValue - value of the carriage mass

mech2dDim - dimensions of mechanical system

rootX - sim root x coordinate

rootY - sim root y coordinate

rootName - sim root name

lineLength - length of the line

angle - angle of the elevator

simSlot0 - simulated PID slot 0 configuration

simSlot1 - simulated PID slot 1 configuration

simSlot2 - simulated PID slot 2 configuration

drumDiameterUnit - units for the drum diameter

drumDiameter - diameter of the drum