Package tagalong.subsystems.micro.confs

Class RollerConf

java.lang.Object

tagalong.subsystems.micro.confs.MicrosystemConf

tagalong.subsystems.micro.confs.RollerConf

Direct Known Subclasses:

FlywheelConf

public class RollerConf
extends MicrosystemConf

Configuration for the roller microsystem

Field Summary

Fields

Modifier and Type	Field	Description
final SimpleMotorFeedforward	feedForward	Motor feedforward model
final double	mech2dDim	Dimension of the mechanical system
final double	rollerMOI	Moment of inertia for the roller
final String	rootName	Sim root name
final double	rootX	Sim root x coordinate
final double	rootY	Sim root y coordinate
final int	simNumLigaments	Number of simulated ligaments used

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

RollerConf(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

Field Details

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

simNumLigaments

public final int simNumLigaments

Number of simulated ligaments used

rollerMOI

public final double rollerMOI

Moment of inertia for the roller

feedForward

public final SimpleMotorFeedforward feedForward

Motor feedforward model

Constructor Details

RollerConf

public RollerConf(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 velocity

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