Package tagalong.subsystems.micro.confs

Class MicrosystemConf

java.lang.Object

tagalong.subsystems.micro.confs.MicrosystemConf

Direct Known Subclasses:

ElevatorConf, PivotConf, RollerConf

public class MicrosystemConf
extends Object

Configuration for a microsystem

Field Summary

Fields

Modifier and Type	Field	Description
final double	defaultLowerTolerance	Default lower tolerance
final DistanceUnits	defaultTolerancesUnit	Unit of default tolerances
final double	defaultUpperTolerance	Default upper tolerance
final String[]	motorCanBus	The can bus of the motors
final com.ctre.phoenix6.configs.TalonFXConfiguration[]	motorConfig	Motor configurations
final int[]	motorDeviceIDs	The can ids of the motors
final com.ctre.phoenix6.signals.InvertedValue[]	motorDirection	The motor directionality
final com.ctre.phoenix6.signals.NeutralModeValue[]	motorDisabledBrakeMode	Motor brake mode while robot is disabled
final com.ctre.phoenix6.signals.NeutralModeValue[]	motorEnabledBrakeMode	Motor brake mode while robot is enabled
final double	motorToMechRatio	Net gear ratio of they system motor to mechanism
final Motors[]	motorTypes	The type of each motor in the microsystem
final String	name	Full microsystem name, default is subsystem name followed by microsystem name
final int	numMotors	Number of motors used by microsystem, also the length of the following arrays
final AccelerationUnits	trapezoidalAccelerationUnit	Unit of trapezoidal motion acceleration
final TrapezoidProfile.Constraints	trapezoidalLimits	Trapezoidal constraints
final double	trapezoidalLimitsAcceleration	Trapezoidal motion acceleration limits
final double	trapezoidalLimitsVelocity	Trapezoidal motion velocity limits
final VelocityUnits	trapezoidalVelocityUnit	Unit of trapezoidal motion velocity

Constructor Summary

Constructors

Constructor

Description

MicrosystemConf(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, com.ctre.phoenix6.configs.CurrentLimitsConfigs currentLimitsConfigs, PIDSGVAConstants slot0, PIDSGVAConstants slot1, PIDSGVAConstants slot2, PIDSGVAConstants simSlot0, PIDSGVAConstants simSlot1, PIDSGVAConstants simSlot2)

Method Summary

Modifier and Type	Method	Description
static double	calculateGearRatio(int[][] gearPairs)

Methods inherited from class java.lang.Object

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

Field Details

name

public final String name

Full microsystem name, default is subsystem name followed by microsystem name

numMotors

public final int numMotors

Number of motors used by microsystem, also the length of the following arrays

motorTypes

public final Motors[] motorTypes

The type of each motor in the microsystem

motorDeviceIDs

public final int[] motorDeviceIDs

The can ids of the motors

motorCanBus

public final String[] motorCanBus

The can bus of the motors

motorDirection

public final com.ctre.phoenix6.signals.InvertedValue[] motorDirection

The motor directionality

motorEnabledBrakeMode

public final com.ctre.phoenix6.signals.NeutralModeValue[] motorEnabledBrakeMode

Motor brake mode while robot is enabled

motorDisabledBrakeMode

public final com.ctre.phoenix6.signals.NeutralModeValue[] motorDisabledBrakeMode

Motor brake mode while robot is disabled

motorToMechRatio

public final double motorToMechRatio

Net gear ratio of they system motor to mechanism

trapezoidalVelocityUnit

public final VelocityUnits trapezoidalVelocityUnit

Unit of trapezoidal motion velocity

trapezoidalAccelerationUnit

public final AccelerationUnits trapezoidalAccelerationUnit

Unit of trapezoidal motion acceleration

trapezoidalLimitsVelocity

public final double trapezoidalLimitsVelocity

Trapezoidal motion velocity limits

trapezoidalLimitsAcceleration

public final double trapezoidalLimitsAcceleration

Trapezoidal motion acceleration limits

trapezoidalLimits

public final TrapezoidProfile.Constraints trapezoidalLimits

Trapezoidal constraints

defaultTolerancesUnit

public final DistanceUnits defaultTolerancesUnit

Unit of default tolerances

defaultLowerTolerance

public final double defaultLowerTolerance

Default lower tolerance

defaultUpperTolerance

public final double defaultUpperTolerance

Default upper tolerance

motorConfig

public final com.ctre.phoenix6.configs.TalonFXConfiguration[] motorConfig

Motor configurations

Constructor Details

MicrosystemConf

public MicrosystemConf(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,
 com.ctre.phoenix6.configs.CurrentLimitsConfigs currentLimitsConfigs,
 PIDSGVAConstants slot0,
 PIDSGVAConstants slot1,
 PIDSGVAConstants slot2,
 PIDSGVAConstants simSlot0,
 PIDSGVAConstants simSlot1,
 PIDSGVAConstants simSlot2)

Parameters:

name - microsystem name

motorTypes - motor types

motorDeviceIDs - motor device IDs

motorCanBus - motor can bus

motorDirection - motor directions

motorEnabledBrakeMode - enabled brake mode for the motor

motorDisabledBrakeMode - disabled brake mode for the motor

gearRatio - gear ratio

trapezoidalLengthUnit - unit for trapezoidal length

trapezoidalVelocityUnit - unit for trapezoidal velocity

trapezoidalLimitsVelocity - trapezoidal velocity limits

trapezoidalAccelerationUnit - unit for trapezoidal acceleration

trapezoidalLimitsAcceleration - trapezoidal acceleration limits

defaultTolerancesUnit - unit for default tolerances

defaultLowerTolerance - default lower tolerance

defaultUpperTolerance - default upper tolerance

currentLimitsConfigs - configurations for current limits

slot0 - slot 0 configurations

slot1 - slot 1 configurations

slot2 - slot 2 configurations

simSlot0 - simulation slot 0 configurations

simSlot1 - simulation slot 1 configurations

simSlot2 - simulation slot 2 configurations

Method Details

calculateGearRatio

public static double calculateGearRatio(int[][] gearPairs)

Parameters:

gearPairs - Pairs of gear teeth representing the physical path to the motor. e.g if the motor is using a 14-tooth pinion to a 60-tooth gear, the input should be [[14, 60]]

Returns:

The resulting gear ratio coefficient. A reduction (target spinning slower than motor) results in a value g.t. 1 An up-duction (target spinning faster than motor) will result in a value l.t. 1