Package tagalong.subsystems.micro.confs

Class FlywheelConf

java.lang.Object

tagalong.subsystems.micro.confs.MicrosystemConf

tagalong.subsystems.micro.confs.RollerConf

tagalong.subsystems.micro.confs.FlywheelConf

public class FlywheelConf
extends RollerConf

Configuration for the flywheel

Field Summary

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

feedForward, mech2dDim, rollerMOI, rootName, rootX, rootY, simNumLigaments

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

FlywheelConf(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 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, PIDSGVAConstants simSlot0, PIDSGVAConstants simSlot1, PIDSGVAConstants simSlot2, double mech2dDim, String rootName, double rootX, double rootY, int simNumLigaments, double rollerMOI)

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

Constructor Details

FlywheelConf

public FlywheelConf(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 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,
 PIDSGVAConstants simSlot0,
 PIDSGVAConstants simSlot1,
 PIDSGVAConstants simSlot2,
 double mech2dDim,
 String rootName,
 double rootX,
 double rootY,
 int simNumLigaments,
 double rollerMOI)

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

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

simSlot0 - simulated PID slot 0 configuration

simSlot1 - simulated PID slot 1 configuration

simSlot2 - simulated PID slot 2 configuration

mech2dDim - dimensions of mechanical system

rootName - sim root name

rootX - sim root x coordinate

rootY - sim root y coordinate

simNumLigaments - number of simulated ligaments used

rollerMOI - moment of inertia for the roller