Package tagalong.subsystems.micro.confs

Class PivotConf

java.lang.Object

tagalong.subsystems.micro.confs.MicrosystemConf

tagalong.subsystems.micro.confs.PivotConf

public class PivotConf
extends MicrosystemConf

Configuration for the pivot microsystem

Field Summary

Fields

Modifier and Type	Field	Description
final boolean	closedLoopConfigsContinuousWrap	Whether there is continuous wrapping in closed loop configurations
final String	encoderCanBus	CAN bus of the encoder
final com.ctre.phoenix6.configs.CANcoderConfiguration	encoderConfig	Encoder configuration
final boolean	encoderConfigClockwisePositive	Whether the encoder is configured as clockwise positive
final DistanceUnits	encoderConfigMagnetOffsetUnit	Unit of the encoder magnet offset
final double	encoderConfigMagnetOffsetValue	Value of the encoder magnet offset
final boolean	encoderConfigZeroToOne	Whether the encoder configuration operates in a zero to one range
final int	encoderDeviceID	Device ID of the encoder
double	encoderToPivotRatio	Gear ratio between encoder and pivot
final Encoders	encoderType	Encoder type used for the pivot
final ArmFeedforward	feedForward	Feedforward model for the arm
final DistanceUnits	ffOffsetUnit	Unit of the feedforward offset
final double	ffOffsetValue	Value of the feedforward offset
final double	mech2dDim	Dimension of the mechanical system
double	motorToEncoderRatio	Ratio between the motor and encoder
final double	pivotLengthM	Length of the pivot in meters
final double	pivotMOI	Moment of inertia for the pivot
final DistanceUnits	profileOffsetUnit	Unit of the profile offset
final double	profileOffsetValue	Value of the profile offset
final String	rootName	Sim root name
final double	rootX	Sim root x coordinate
final double	rootY	Sim root y coordinate
final DistanceUnits	rotationalLimitUnit	Unit for rotational limit (default: rotations)
final double	rotationalMax	Minimum and maximum rotation
final double	rotationalMin	Minimum and maximum rotation

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

PivotConf(String name, Motors[] motorTypes, int[] motorDeviceIDs, String[] motorCanBus, com.ctre.phoenix6.signals.InvertedValue[] motorDirection, Encoders encoderType, int encoderDeviceID, String encoderCanBus, boolean encoderConfigZeroToOne, boolean encoderConfigClockwisePositive, DistanceUnits encoderConfigMagnetOffsetUnit, double encoderConfigMagnetOffsetValue, com.ctre.phoenix6.signals.NeutralModeValue[] motorEnabledBrakeMode, com.ctre.phoenix6.signals.NeutralModeValue[] motorDisabledBrakeMode, int[][] motorToPivotRatio, int[][] encoderToPivotRatio, DistanceUnits rotationalLimitsUnit, double rotationalMin, double rotationalMax, 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, boolean closedLoopConfigsContinuousWrap, DistanceUnits ffOffsetUnit, double ffOffsetValue, DistanceUnits profileOffsetUnit, double profileOffsetValue, double mech2dDim, String rootName, double rootX, double rootY, double pivotMOI, double pivotLengthM)

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

rotationalLimitUnit

public final DistanceUnits rotationalLimitUnit

Unit for rotational limit (default: rotations)

rotationalMin

public final double rotationalMin

Minimum and maximum rotation

rotationalMax

public final double rotationalMax

Minimum and maximum rotation

feedForward

public final ArmFeedforward feedForward

Feedforward model for the arm

encoderType

public final Encoders encoderType

Encoder type used for the pivot

encoderDeviceID

public final int encoderDeviceID

Device ID of the encoder

encoderCanBus

public final String encoderCanBus

CAN bus of the encoder

motorToEncoderRatio

public double motorToEncoderRatio

Ratio between the motor and encoder

encoderToPivotRatio

public double encoderToPivotRatio

Gear ratio between encoder and pivot

encoderConfig

public final com.ctre.phoenix6.configs.CANcoderConfiguration encoderConfig

Encoder configuration

encoderConfigZeroToOne

public final boolean encoderConfigZeroToOne

Whether the encoder configuration operates in a zero to one range

encoderConfigClockwisePositive

public final boolean encoderConfigClockwisePositive

Whether the encoder is configured as clockwise positive

encoderConfigMagnetOffsetUnit

public final DistanceUnits encoderConfigMagnetOffsetUnit

Unit of the encoder magnet offset

encoderConfigMagnetOffsetValue

public final double encoderConfigMagnetOffsetValue

Value of the encoder magnet offset

closedLoopConfigsContinuousWrap

public final boolean closedLoopConfigsContinuousWrap

Whether there is continuous wrapping in closed loop configurations

ffOffsetUnit

public final DistanceUnits ffOffsetUnit

Unit of the feedforward offset

ffOffsetValue

public final double ffOffsetValue

Value of the feedforward offset

profileOffsetUnit

public final DistanceUnits profileOffsetUnit

Unit of the profile offset

profileOffsetValue

public final double profileOffsetValue

Value of the profile offset

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

pivotMOI

public final double pivotMOI

Moment of inertia for the pivot

pivotLengthM

public final double pivotLengthM

Length of the pivot in meters

Constructor Details

PivotConf

public PivotConf(String name,
 Motors[] motorTypes,
 int[] motorDeviceIDs,
 String[] motorCanBus,
 com.ctre.phoenix6.signals.InvertedValue[] motorDirection,
 Encoders encoderType,
 int encoderDeviceID,
 String encoderCanBus,
 boolean encoderConfigZeroToOne,
 boolean encoderConfigClockwisePositive,
 DistanceUnits encoderConfigMagnetOffsetUnit,
 double encoderConfigMagnetOffsetValue,
 com.ctre.phoenix6.signals.NeutralModeValue[] motorEnabledBrakeMode,
 com.ctre.phoenix6.signals.NeutralModeValue[] motorDisabledBrakeMode,
 int[][] motorToPivotRatio,
 int[][] encoderToPivotRatio,
 DistanceUnits rotationalLimitsUnit,
 double rotationalMin,
 double rotationalMax,
 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,
 boolean closedLoopConfigsContinuousWrap,
 DistanceUnits ffOffsetUnit,
 double ffOffsetValue,
 DistanceUnits profileOffsetUnit,
 double profileOffsetValue,
 double mech2dDim,
 String rootName,
 double rootX,
 double rootY,
 double pivotMOI,
 double pivotLengthM)

Parameters:

name - pivot name

motorTypes - motor types

motorDeviceIDs - motor device ids

motorCanBus - motor can bus

motorDirection - motor directions

encoderType - encoder type used for the pivot

encoderDeviceID - device id of the encoder

encoderCanBus - can bus of the encoder

encoderConfigZeroToOne - whether the encoder config operates in a 0 to 1 range

encoderConfigClockwisePositive - whether the encoder is configured as clockwise positive

encoderConfigMagnetOffsetUnit - unit of the encoder magnet offset

encoderConfigMagnetOffsetValue - value of the encoder magnet offset

motorEnabledBrakeMode - brake mode when motors are enabled

motorDisabledBrakeMode - brake mode when motors are disabled

motorToPivotRatio - ratio between the motor and encoder

encoderToPivotRatio - gear ratio between encoder and pivot

rotationalLimitsUnit - unit for rotational limit (default: rotations)

rotationalMin - minimum rotation

rotationalMax - maximum rotation

trapezoidalLengthUnit - unit of trapezoidal motion length

trapezoidalVelocityUnit - unit of trapezoidal velocity

trapezoidalLimitsVelocity - trapezoidal motion velocity limits

trapezoidalAccelerationUnit - unit of trapezoidal acceleration

trapezoidalLimitsAcceleration - trapezoidal motion acceleration limits

defaultTolerancesUnit - unit of default tolerances

defaultLowerTolerance - default lower tolerance

defaultUpperTolerance - default upper tolerance

feedForward - feedforward model for the arm

simFeedForward - feedforward model for simulation

currentLimitsConfigs - current limit configurations

slot0 - slot 0 configuration

slot1 - slot 1 configuration

slot2 - slot 2 configuration

simSlot0 - slot 0 configuration for simulation

simSlot1 - slot 1 configuration for simulation

simSlot2 - slot 2 configuration for simulation

closedLoopConfigsContinuousWrap - whether continuous wrapping in closed loop configs

ffOffsetUnit - unit of the feedforward offset

ffOffsetValue - value of the feedforward offset

profileOffsetUnit - unit of the profile offset

profileOffsetValue - value of the profile offset

mech2dDim - dimensions of mechanical system

rootName - sim root name

rootX - sim root x coordinate

rootY - sim root y coordinate

pivotMOI - moment of inertia for the pivot

pivotLengthM - length of the pivot in meters