diff --git a/docs/index-all.html b/docs/index-all.html index 5064925..8c246c1 100644 --- a/docs/index-all.html +++ b/docs/index-all.html @@ -789,7 +789,7 @@

F

Configuration for the flywheel
-
FlywheelConf(String, Motors[], int[], String[], InvertedValue[], NeutralModeValue[], NeutralModeValue[], int[][], DistanceUnits, VelocityUnits, double, AccelerationUnits, double, DistanceUnits, double, double, FeedforwardConstants, FeedforwardConstants, CurrentLimitsConfigs, PIDSGVAConstants, PIDSGVAConstants, PIDSGVAConstants, PIDSGVAConstants, PIDSGVAConstants, PIDSGVAConstants, double, String, double, double, int, double) - Constructor for class tagalong.subsystems.micro.confs.FlywheelConf
+
FlywheelConf(String, Motors[], int[], String[], InvertedValue[], NeutralModeValue[], NeutralModeValue[], int[][], DistanceUnits, VelocityUnits, double, AccelerationUnits, double, DistanceUnits, double, double, FeedforwardConstants, FeedforwardConstants, CurrentLimitsConfigs, PIDSGVAConstants, PIDSGVAConstants, PIDSGVAConstants, PIDSGVAConstants, PIDSGVAConstants, PIDSGVAConstants, double, String, double, double, int, double, double) - Constructor for class tagalong.subsystems.micro.confs.FlywheelConf
 
followLastProfile() - Method in class tagalong.subsystems.micro.Elevator
@@ -1143,6 +1143,10 @@

K

L

+
ligamentsLength - Variable in class tagalong.subsystems.micro.confs.RollerConf
+
+
Length of simulated ligaments
+
LinearizedLookupTable - Class in tagalong.math
Linearized Lookup Table
@@ -2041,7 +2045,7 @@

R

Configuration for the roller microsystem
-
RollerConf(String, Motors[], int[], String[], InvertedValue[], NeutralModeValue[], NeutralModeValue[], int[][], DistanceUnits, VelocityUnits, double, AccelerationUnits, double, DistanceUnits, double, double, FeedforwardConstants, FeedforwardConstants, CurrentLimitsConfigs, PIDSGVAConstants, PIDSGVAConstants, PIDSGVAConstants, PIDSGVAConstants, PIDSGVAConstants, PIDSGVAConstants, double, String, double, double, int, double) - Constructor for class tagalong.subsystems.micro.confs.RollerConf
+
RollerConf(String, Motors[], int[], String[], InvertedValue[], NeutralModeValue[], NeutralModeValue[], int[][], DistanceUnits, VelocityUnits, double, AccelerationUnits, double, DistanceUnits, double, double, FeedforwardConstants, FeedforwardConstants, CurrentLimitsConfigs, PIDSGVAConstants, PIDSGVAConstants, PIDSGVAConstants, PIDSGVAConstants, PIDSGVAConstants, PIDSGVAConstants, double, String, double, double, int, double, double) - Constructor for class tagalong.subsystems.micro.confs.RollerConf
 
rollerCurrentAmps - Variable in class tagalong.logging.RollerIO.RollerIOInputs
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\ No newline at end of file diff --git a/docs/src-html/tagalong/subsystems/micro/Roller.html b/docs/src-html/tagalong/subsystems/micro/Roller.html index d18801b..a754863 100644 --- a/docs/src-html/tagalong/subsystems/micro/Roller.html +++ b/docs/src-html/tagalong/subsystems/micro/Roller.html @@ -185,7 +185,7 @@ 172 _rollerSim = new FlywheelSim( 173 LinearSystemId.createFlywheelSystem(dcMotor, _rollerConf.rollerMOI, _motorToMechRatio), 174 dcMotor, -175 null +175 _motorToMechRatio 176 ); 177 _mechanism = new Mechanism2d(_rollerConf.mech2dDim, _rollerConf.mech2dDim); 178 SmartDashboard.putData("SIM: " + _rollerConf.name, _mechanism); @@ -193,447 +193,449 @@ 180 _root = _mechanism.getRoot(_rollerConf.name, _rollerConf.rootX, _rollerConf.rootY); 181 for (int i = 1; i <= _rollerConf.simNumLigaments; i++) { 182 MechanismLigament2d ligament = new MechanismLigament2d( -183 _rollerConf.name + " " + i, 10, i * (360 / _rollerConf.simNumLigaments) -184 ); -185 _rollerLigaments.add(ligament); -186 _root.append(ligament); -187 -188 // FUTURE DEV: allow for explicit color configuration -189 ligament.setColor(new Color8Bit( -190 i * 255 / _rollerConf.simNumLigaments, -191 i * 255 / _rollerConf.simNumLigaments, -192 i * 255 / _rollerConf.simNumLigaments -193 )); -194 } -195 _primaryMotorSim = _primaryMotor.getSimState(); -196 } -197 -198 @Override -199 public void simulationPeriodic() { -200 if (_isMicrosystemDisabled) { -201 return; -202 } -203 _rollerSim.setInput(getPrimaryMotorPower() * RobotController.getBatteryVoltage()); -204 _rollerSim.update(TagalongConfiguration.LOOP_PERIOD_S); -205 -206 double prevSimVelo = _simVeloRPM; -207 _simVeloRPM = _rollerSim.getAngularVelocityRPM(); -208 _simRotations += _simVeloRPM * TagalongConfiguration.LOOP_PERIOD_S / 60.0; -209 _simAccelRPM2 = (_simVeloRPM - prevSimVelo) * 60.0 / TagalongConfiguration.LOOP_PERIOD_S; -210 -211 for (int i = 1; i <= _rollerConf.simNumLigaments; i++) { -212 _rollerLigaments.get(i - 1).setAngle( -213 Rotation2d.fromRotations(_simRotations + (i * (1.0 / _rollerConf.simNumLigaments))) -214 ); -215 } -216 -217 _primaryMotorSim.setRawRotorPosition(rollerRotToMotor(_simRotations)); -218 _primaryMotorSim.setRotorVelocity(rollerRotToMotor(_rollerSim.getAngularVelocityRPM() / 60.0)); -219 _primaryMotorSim.setRotorAcceleration(rollerRotToMotor(_simAccelRPM2 / 3600.0)); -220 _primaryMotorSim.setSupplyVoltage(RobotController.getBatteryVoltage()); -221 -222 RoboRioSim.setVInVoltage( -223 BatterySim.calculateDefaultBatteryLoadedVoltage(_rollerSim.getCurrentDrawAmps()) -224 ); -225 } -226 -227 @Override -228 public boolean motorResetConfig() { -229 if (_isMicrosystemDisabled) { -230 return false; -231 } -232 return super.motorResetConfig(); -233 } -234 -235 @Override -236 public void updateShuffleboard() { -237 if (_isMicrosystemDisabled) { -238 return; -239 } -240 if (_isShuffleboardMicro) { -241 _currentPositionEntry.setDouble(getRollerPosition()); -242 _currentVelocityEntry.setDouble(getRollerVelocity()); -243 } -244 } -245 -246 @Override -247 public void configShuffleboard() { -248 if (_isMicrosystemDisabled) { -249 return; -250 } -251 super.configShuffleboard(); -252 } -253 -254 /** -255 * Converts motor rotations to roller rotations -256 * -257 * @param motorRot motor rotations -258 * @return roller rotations converted from motor rotations -259 * -260 */ -261 public double motorToRollerRot(double motorRot) { -262 if (_isMicrosystemDisabled) { -263 return 0.0; -264 } -265 return motorRot / _motorToMechRatio; -266 } -267 -268 /** -269 * Converts motor rotations to roller rotations -270 * -271 * @param rollerRot roller rotations -272 * @return motor rotations converted from roller rotations -273 */ -274 public double rollerRotToMotor(double rollerRot) { -275 if (_isMicrosystemDisabled) { -276 return 0.0; -277 } -278 return rollerRot * _motorToMechRatio; -279 } -280 -281 /** -282 * Calculates the next state according to the trapezoidal profile and requests the roller motor(s) -283 * to arrive at the next position with feedforward -284 */ -285 public void followLastProfile() { -286 if (_isMicrosystemDisabled) { -287 return; -288 } -289 TrapezoidProfile.State nextState = -290 _trapProfile.calculate(TagalongConfiguration.LOOP_PERIOD_S, _curState, _goalState); -291 -292 // Control and FeedForward based on mechanism rotations rather than motor rotations -293 _primaryMotor.setControl(_requestedPositionVoltage -294 .withPosition(rollerRotToMotor(nextState.position)) -295 .withFeedForward(_rollerFF.calculate(nextState.velocity))); -296 -297 if (_isShuffleboardMicro) { -298 _targetPositionEntry.setDouble(nextState.position); -299 _targetVelocityEntry.setDouble(nextState.velocity); -300 } -301 -302 _curState = nextState; -303 } -304 -305 /** -306 * Creates a new trapezoidal profile for the roller to follow -307 * -308 * @param goalPosition goal position in rotations -309 */ -310 public void setRollerProfile(Angle goalPosition) { -311 setRollerProfile(goalPosition.getRotations()); -312 } -313 /** -314 * Creates a new trapezoidal profile for the roller to follow -315 * -316 * @param goalPosition goal position in rotations -317 * @param goalVelocityRPS goal velocity in rotations per second -318 */ -319 public void setRollerProfile(Angle goalPosition, double goalVelocityRPS) { -320 setRollerProfile(goalPosition.getRotations(), goalVelocityRPS); -321 } -322 -323 /** -324 * Creates a new trapezoidal profile for the roller to follow -325 * -326 * @param goalPosition goal position in rotations -327 * @param goalVelocityRPS goal velocity in rotations per second -328 * @param maxVelocityRPS maximum velocity in rotations per second -329 */ -330 public void setRollerProfile(Angle goalPosition, double goalVelocityRPS, double maxVelocityRPS) { -331 setRollerProfile(goalPosition.getRotations(), goalVelocityRPS, maxVelocityRPS); -332 } -333 -334 /** -335 * Creates a new trapezoidal profile for the roller to follow -336 * -337 * @param goalPosition goal position in rotations -338 * @param goalVelocityRPS goal velocity in rotations per second -339 * @param maxVelocityRPS maximum velocity in rotations per second -340 * @param maxAccelerationRPS2 maximum acceleration in rotations per second squared -341 */ -342 public void setRollerProfile( -343 Angle goalPosition, double goalVelocityRPS, double maxVelocityRPS, double maxAccelerationRPS2 -344 ) { -345 setRollerProfile( -346 goalPosition.getRotations(), goalVelocityRPS, maxVelocityRPS, maxAccelerationRPS2 -347 ); -348 } -349 -350 /** -351 * Creates a new trapezoidal profile for the roller to follow -352 * -353 * @param goalPosition goal position in rotations -354 * @param goalVelocityRPS goal velocity in rotations per second -355 * @param maxVelocityRPS maximum velocity in rotations per second -356 * @param maxAccelerationRPS2 maximum acceleration in rotations per second squared -357 * @param setCurrentState True if the profiles current state should base itself off sensor -358 * values rather than continue from the existing state -359 */ -360 public void setRollerProfile( -361 Angle goalPosition, -362 double goalVelocityRPS, -363 double maxVelocityRPS, -364 double maxAccelerationRPS2, -365 boolean setCurrentState -366 ) { -367 setRollerProfile( -368 goalPosition.getRotations(), -369 goalVelocityRPS, -370 maxVelocityRPS, -371 maxAccelerationRPS2, -372 setCurrentState -373 ); -374 } -375 -376 /** -377 * Creates a new trapezoidal profile for the roller to follow -378 * -379 * @param goalPositionRot goal position in rotations -380 */ -381 public void setRollerProfile(double goalPositionRot) { -382 setRollerProfile(goalPositionRot, 0.0); -383 } -384 -385 /** -386 * Creates a new trapezoidal profile for the roller to follow -387 * -388 * @param goalPositionRot goal position in rotations -389 * @param goalVelocityRPS goal velocity in rotations per second -390 */ -391 public void setRollerProfile(double goalPositionRot, double goalVelocityRPS) { -392 setRollerProfile(goalPositionRot, goalVelocityRPS, _maxVelocityRPS); -393 } -394 -395 /** -396 * Creates a new trapezoidal profile for the roller to follow -397 * -398 * @param goalPositionRot goal position in rotations -399 * @param goalVelocityRPS goal velocity in rotations per second -400 * @param maxVelocityRPS maximum velocity in rotations per second -401 */ -402 public void setRollerProfile( -403 double goalPositionRot, double goalVelocityRPS, double maxVelocityRPS -404 ) { -405 setRollerProfile(goalPositionRot, goalVelocityRPS, maxVelocityRPS, _maxAccelerationRPS2); -406 } -407 -408 /** -409 * Creates a new trapezoidal profile for the roller to follow -410 * -411 * @param goalPositionRot goal position in rotations -412 * @param goalVelocityRPS goal velocity in rotations per second -413 * @param maxVelocityRPS maximum velocity in rotations per second -414 * @param maxAccelerationRPS2 maximum acceleration in rotations per second squared -415 */ -416 public void setRollerProfile( -417 double goalPositionRot, -418 double goalVelocityRPS, -419 double maxVelocityRPS, -420 double maxAccelerationRPS2 -421 ) { -422 setRollerProfile(goalPositionRot, goalVelocityRPS, maxVelocityRPS, maxAccelerationRPS2, true); -423 } -424 -425 /** -426 * Creates a new trapezoidal profile for the roller to follow -427 * -428 * @param goalPositionRot goal position in rotations -429 * @param goalVelocityRPS goal velocity in rotations per second -430 * @param maxVelocityRPS maximum velocity in rotations per second -431 * @param maxAccelerationRPS2 maximum acceleration in rotations per second squared -432 * @param setCurrentState True if the profiles current state should base itself off sensor -433 * values rather than continue from the existing state -434 */ -435 public void setRollerProfile( -436 double goalPositionRot, -437 double goalVelocityRPS, -438 double maxVelocityRPS, -439 double maxAccelerationRPS2, -440 boolean setCurrentState -441 ) { -442 if (_isMicrosystemDisabled) { -443 return; -444 } -445 setFollowProfile(false); -446 -447 if (setCurrentState) { -448 _curState.position = getRollerPosition(); -449 _curState.velocity = getRollerVelocity(); -450 } -451 -452 _goalState.position = goalPositionRot; -453 _goalState.velocity = goalVelocityRPS; -454 -455 _trapProfile = new TrapezoidProfile( -456 (maxVelocityRPS >= _maxVelocityRPS || maxAccelerationRPS2 >= _maxAccelerationRPS2) -457 ? _rollerConf.trapezoidalLimits -458 : new TrapezoidProfile.Constraints(maxVelocityRPS, maxAccelerationRPS2) -459 ); -460 -461 _profileTimer.restart(); -462 } -463 -464 /** -465 * Sets the power of the primary roller motor -466 * -467 * @param power roller power -468 */ -469 public void setRollerPower(double power) { -470 setPrimaryPower(power); -471 } -472 -473 /** -474 * Gets the power of the primary roller motor -475 * -476 * @return roller power -477 */ -478 public double getRollerPower() { -479 return getPrimaryMotorPower(); -480 } -481 -482 /** -483 * Gets the position of the roller in rotations -484 * -485 * @return roller position in rotations -486 */ -487 public double getRollerPosition() { -488 return motorToRollerRot(getPrimaryMotorPosition()); -489 } -490 -491 /** -492 * Gets the velocity of roller in rotations -493 * -494 * @return roller velocity -495 */ -496 public double getRollerVelocity() { -497 return motorToRollerRot(getPrimaryMotorVelocity()); -498 } -499 -500 /** -501 * Sets the velocity of the roller in RPS -502 * -503 * @param rps Desired velocity in rotations per second -504 * @param withFF with feedforward -505 */ -506 public void setRollerVelocity(double rps, boolean withFF) { -507 if (_isMicrosystemDisabled) { -508 return; -509 } -510 -511 setFollowProfile(false); -512 _primaryMotor.setControl(_requestedVelocityVoltage.withVelocity(rollerRotToMotor(rps)) -513 .withFeedForward(withFF ? _rollerFF.calculate(rps) : 0.0)); -514 } -515 -516 /** -517 * Checks if the roller is at the target speed -518 * -519 * @param targetSpeed target speed in rotations per second -520 * @return if roller is at target speed -521 */ -522 public boolean isRollerAtTargetSpeed(double targetSpeed) { -523 if (_isMicrosystemDisabled) { -524 return true; -525 } -526 return AlgebraicUtils.inTolerance( -527 getRollerVelocity() - targetSpeed, -528 -_defaultRollerLowerToleranceRot, -529 _defaultRollerUpperToleranceRot -530 ); -531 } -532 -533 /** -534 * Command that sets the roller power -535 * -536 * @param power roller power -537 * @return instant command to set roller power -538 */ -539 public Command setRollerPowerCmd(double power) { -540 return new InstantCommand(() -> setRollerPower(power)); -541 } -542 -543 /** -544 * Command that sets the velocity of the roller in rotations per second -545 * -546 * @param rps rotations per second -547 * @return instant command to set roller velocity -548 */ -549 public Command setRollerRPSCmd(double rps) { -550 return new InstantCommand(() -> setRollerVelocity(rps, false)); -551 } -552 -553 /** -554 * Command that sets the velocity of the roller in rotations per second with feedforward -555 * -556 * @param rps rotations per second -557 * @return instant command to set roller velocity with feedforward -558 */ -559 public Command setRollerRPSWithFFCmd(double rps) { -560 return new InstantCommand(() -> setRollerVelocity(rps, true)); -561 } -562 -563 /** -564 * Command that sets the power of the primary motor (zero if interrupted) -565 * -566 * @param power roller power -567 * @return start end command to set roller power -568 */ -569 public Command startEndRollerPowerCmd(double power) { -570 return (Commands.startEnd(() -> setRollerPower(power), () -> setRollerPower(0.0))); -571 } -572 -573 /** -574 * Command that sets the velocity of the roller in rotations per second (sets zero power if -575 * interrupted) -576 * -577 * @param rps rotations per second -578 * @return start end command to set roller velocity -579 */ -580 public Command startEndRollerRPSCmd(double rps) { -581 return Commands.startEnd(() -> setRollerVelocity(rps, false), () -> setRollerPower(0.0)); -582 } -583 -584 /** -585 * Command that sets the velocity of the roller in rotations per second with feedforward. (sets -586 * zero power if interrupted) -587 * -588 * @param rps rotations per second -589 * @return start end command to set roller velocity with feedforward -590 */ -591 public Command startEndRollerRPSWithFFCmd(double rps) { -592 return Commands.startEnd(() -> setRollerVelocity(rps, true), () -> setRollerPower(0.0)); -593 } -594 -595 /** -596 * Bounds checking function that uses the current roller position -597 * -598 * @param lowerBound minimum of acceptable range -599 * @param upperBound maximum of acceptable range -600 * @return if the current position is in specified acceptable range -601 */ -602 public boolean isRollerInTolerance(double lowerBound, double upperBound) { -603 if (_isMicrosystemDisabled) { -604 return true; -605 } -606 return AlgebraicUtils.inTolerance(getRollerPosition(), lowerBound, upperBound); -607 } -608 -609 @Override -610 public void holdCurrentPosition() { -611 setRollerProfile(getRollerPosition(), 0.0); -612 setFollowProfile(true); -613 } -614 -615 /** -616 * Retrieves ligaments attached to roller Mechanism2d -617 * -618 * @return roller ligaments -619 */ -620 public ArrayList<MechanismLigament2d> getRollerLigaments() { -621 return _rollerLigaments; -622 } -623} +183 _rollerConf.name + " " + i, +184 _rollerConf.ligamentsLength, +185 i * (360 / _rollerConf.simNumLigaments) +186 ); +187 _rollerLigaments.add(ligament); +188 _root.append(ligament); +189 +190 // FUTURE DEV: allow for explicit color configuration +191 ligament.setColor(new Color8Bit( +192 i * 255 / _rollerConf.simNumLigaments, +193 i * 255 / _rollerConf.simNumLigaments, +194 i * 255 / _rollerConf.simNumLigaments +195 )); +196 } +197 _primaryMotorSim = _primaryMotor.getSimState(); +198 } +199 +200 @Override +201 public void simulationPeriodic() { +202 if (_isMicrosystemDisabled) { +203 return; +204 } +205 _rollerSim.setInput(getPrimaryMotorPower() * RobotController.getBatteryVoltage()); +206 _rollerSim.update(TagalongConfiguration.LOOP_PERIOD_S); +207 +208 double prevSimVelo = _simVeloRPM; +209 _simVeloRPM = _rollerSim.getAngularVelocityRPM(); +210 _simRotations += _simVeloRPM * TagalongConfiguration.LOOP_PERIOD_S / 60.0; +211 _simAccelRPM2 = (_simVeloRPM - prevSimVelo) * 60.0 / TagalongConfiguration.LOOP_PERIOD_S; +212 +213 for (int i = 1; i <= _rollerConf.simNumLigaments; i++) { +214 _rollerLigaments.get(i - 1).setAngle( +215 Rotation2d.fromRotations(_simRotations + (i * (1.0 / _rollerConf.simNumLigaments))) +216 ); +217 } +218 +219 _primaryMotorSim.setRawRotorPosition(rollerRotToMotor(_simRotations)); +220 _primaryMotorSim.setRotorVelocity(rollerRotToMotor(_rollerSim.getAngularVelocityRPM() / 60.0)); +221 _primaryMotorSim.setRotorAcceleration(rollerRotToMotor(_simAccelRPM2 / 3600.0)); +222 _primaryMotorSim.setSupplyVoltage(RobotController.getBatteryVoltage()); +223 +224 RoboRioSim.setVInVoltage( +225 BatterySim.calculateDefaultBatteryLoadedVoltage(_rollerSim.getCurrentDrawAmps()) +226 ); +227 } +228 +229 @Override +230 public boolean motorResetConfig() { +231 if (_isMicrosystemDisabled) { +232 return false; +233 } +234 return super.motorResetConfig(); +235 } +236 +237 @Override +238 public void updateShuffleboard() { +239 if (_isMicrosystemDisabled) { +240 return; +241 } +242 if (_isShuffleboardMicro) { +243 _currentPositionEntry.setDouble(getRollerPosition()); +244 _currentVelocityEntry.setDouble(getRollerVelocity()); +245 } +246 } +247 +248 @Override +249 public void configShuffleboard() { +250 if (_isMicrosystemDisabled) { +251 return; +252 } +253 super.configShuffleboard(); +254 } +255 +256 /** +257 * Converts motor rotations to roller rotations +258 * +259 * @param motorRot motor rotations +260 * @return roller rotations converted from motor rotations +261 * +262 */ +263 public double motorToRollerRot(double motorRot) { +264 if (_isMicrosystemDisabled) { +265 return 0.0; +266 } +267 return motorRot / _motorToMechRatio; +268 } +269 +270 /** +271 * Converts motor rotations to roller rotations +272 * +273 * @param rollerRot roller rotations +274 * @return motor rotations converted from roller rotations +275 */ +276 public double rollerRotToMotor(double rollerRot) { +277 if (_isMicrosystemDisabled) { +278 return 0.0; +279 } +280 return rollerRot * _motorToMechRatio; +281 } +282 +283 /** +284 * Calculates the next state according to the trapezoidal profile and requests the roller motor(s) +285 * to arrive at the next position with feedforward +286 */ +287 public void followLastProfile() { +288 if (_isMicrosystemDisabled) { +289 return; +290 } +291 TrapezoidProfile.State nextState = +292 _trapProfile.calculate(TagalongConfiguration.LOOP_PERIOD_S, _curState, _goalState); +293 +294 // Control and FeedForward based on mechanism rotations rather than motor rotations +295 _primaryMotor.setControl(_requestedPositionVoltage +296 .withPosition(rollerRotToMotor(nextState.position)) +297 .withFeedForward(_rollerFF.calculate(nextState.velocity))); +298 +299 if (_isShuffleboardMicro) { +300 _targetPositionEntry.setDouble(nextState.position); +301 _targetVelocityEntry.setDouble(nextState.velocity); +302 } +303 +304 _curState = nextState; +305 } +306 +307 /** +308 * Creates a new trapezoidal profile for the roller to follow +309 * +310 * @param goalPosition goal position in rotations +311 */ +312 public void setRollerProfile(Angle goalPosition) { +313 setRollerProfile(goalPosition.getRotations()); +314 } +315 /** +316 * Creates a new trapezoidal profile for the roller to follow +317 * +318 * @param goalPosition goal position in rotations +319 * @param goalVelocityRPS goal velocity in rotations per second +320 */ +321 public void setRollerProfile(Angle goalPosition, double goalVelocityRPS) { +322 setRollerProfile(goalPosition.getRotations(), goalVelocityRPS); +323 } +324 +325 /** +326 * Creates a new trapezoidal profile for the roller to follow +327 * +328 * @param goalPosition goal position in rotations +329 * @param goalVelocityRPS goal velocity in rotations per second +330 * @param maxVelocityRPS maximum velocity in rotations per second +331 */ +332 public void setRollerProfile(Angle goalPosition, double goalVelocityRPS, double maxVelocityRPS) { +333 setRollerProfile(goalPosition.getRotations(), goalVelocityRPS, maxVelocityRPS); +334 } +335 +336 /** +337 * Creates a new trapezoidal profile for the roller to follow +338 * +339 * @param goalPosition goal position in rotations +340 * @param goalVelocityRPS goal velocity in rotations per second +341 * @param maxVelocityRPS maximum velocity in rotations per second +342 * @param maxAccelerationRPS2 maximum acceleration in rotations per second squared +343 */ +344 public void setRollerProfile( +345 Angle goalPosition, double goalVelocityRPS, double maxVelocityRPS, double maxAccelerationRPS2 +346 ) { +347 setRollerProfile( +348 goalPosition.getRotations(), goalVelocityRPS, maxVelocityRPS, maxAccelerationRPS2 +349 ); +350 } +351 +352 /** +353 * Creates a new trapezoidal profile for the roller to follow +354 * +355 * @param goalPosition goal position in rotations +356 * @param goalVelocityRPS goal velocity in rotations per second +357 * @param maxVelocityRPS maximum velocity in rotations per second +358 * @param maxAccelerationRPS2 maximum acceleration in rotations per second squared +359 * @param setCurrentState True if the profiles current state should base itself off sensor +360 * values rather than continue from the existing state +361 */ +362 public void setRollerProfile( +363 Angle goalPosition, +364 double goalVelocityRPS, +365 double maxVelocityRPS, +366 double maxAccelerationRPS2, +367 boolean setCurrentState +368 ) { +369 setRollerProfile( +370 goalPosition.getRotations(), +371 goalVelocityRPS, +372 maxVelocityRPS, +373 maxAccelerationRPS2, +374 setCurrentState +375 ); +376 } +377 +378 /** +379 * Creates a new trapezoidal profile for the roller to follow +380 * +381 * @param goalPositionRot goal position in rotations +382 */ +383 public void setRollerProfile(double goalPositionRot) { +384 setRollerProfile(goalPositionRot, 0.0); +385 } +386 +387 /** +388 * Creates a new trapezoidal profile for the roller to follow +389 * +390 * @param goalPositionRot goal position in rotations +391 * @param goalVelocityRPS goal velocity in rotations per second +392 */ +393 public void setRollerProfile(double goalPositionRot, double goalVelocityRPS) { +394 setRollerProfile(goalPositionRot, goalVelocityRPS, _maxVelocityRPS); +395 } +396 +397 /** +398 * Creates a new trapezoidal profile for the roller to follow +399 * +400 * @param goalPositionRot goal position in rotations +401 * @param goalVelocityRPS goal velocity in rotations per second +402 * @param maxVelocityRPS maximum velocity in rotations per second +403 */ +404 public void setRollerProfile( +405 double goalPositionRot, double goalVelocityRPS, double maxVelocityRPS +406 ) { +407 setRollerProfile(goalPositionRot, goalVelocityRPS, maxVelocityRPS, _maxAccelerationRPS2); +408 } +409 +410 /** +411 * Creates a new trapezoidal profile for the roller to follow +412 * +413 * @param goalPositionRot goal position in rotations +414 * @param goalVelocityRPS goal velocity in rotations per second +415 * @param maxVelocityRPS maximum velocity in rotations per second +416 * @param maxAccelerationRPS2 maximum acceleration in rotations per second squared +417 */ +418 public void setRollerProfile( +419 double goalPositionRot, +420 double goalVelocityRPS, +421 double maxVelocityRPS, +422 double maxAccelerationRPS2 +423 ) { +424 setRollerProfile(goalPositionRot, goalVelocityRPS, maxVelocityRPS, maxAccelerationRPS2, true); +425 } +426 +427 /** +428 * Creates a new trapezoidal profile for the roller to follow +429 * +430 * @param goalPositionRot goal position in rotations +431 * @param goalVelocityRPS goal velocity in rotations per second +432 * @param maxVelocityRPS maximum velocity in rotations per second +433 * @param maxAccelerationRPS2 maximum acceleration in rotations per second squared +434 * @param setCurrentState True if the profiles current state should base itself off sensor +435 * values rather than continue from the existing state +436 */ +437 public void setRollerProfile( +438 double goalPositionRot, +439 double goalVelocityRPS, +440 double maxVelocityRPS, +441 double maxAccelerationRPS2, +442 boolean setCurrentState +443 ) { +444 if (_isMicrosystemDisabled) { +445 return; +446 } +447 setFollowProfile(false); +448 +449 if (setCurrentState) { +450 _curState.position = getRollerPosition(); +451 _curState.velocity = getRollerVelocity(); +452 } +453 +454 _goalState.position = goalPositionRot; +455 _goalState.velocity = goalVelocityRPS; +456 +457 _trapProfile = new TrapezoidProfile( +458 (maxVelocityRPS >= _maxVelocityRPS || maxAccelerationRPS2 >= _maxAccelerationRPS2) +459 ? _rollerConf.trapezoidalLimits +460 : new TrapezoidProfile.Constraints(maxVelocityRPS, maxAccelerationRPS2) +461 ); +462 +463 _profileTimer.restart(); +464 } +465 +466 /** +467 * Sets the power of the primary roller motor +468 * +469 * @param power roller power +470 */ +471 public void setRollerPower(double power) { +472 setPrimaryPower(power); +473 } +474 +475 /** +476 * Gets the power of the primary roller motor +477 * +478 * @return roller power +479 */ +480 public double getRollerPower() { +481 return getPrimaryMotorPower(); +482 } +483 +484 /** +485 * Gets the position of the roller in rotations +486 * +487 * @return roller position in rotations +488 */ +489 public double getRollerPosition() { +490 return motorToRollerRot(getPrimaryMotorPosition()); +491 } +492 +493 /** +494 * Gets the velocity of roller in rotations +495 * +496 * @return roller velocity +497 */ +498 public double getRollerVelocity() { +499 return motorToRollerRot(getPrimaryMotorVelocity()); +500 } +501 +502 /** +503 * Sets the velocity of the roller in RPS +504 * +505 * @param rps Desired velocity in rotations per second +506 * @param withFF with feedforward +507 */ +508 public void setRollerVelocity(double rps, boolean withFF) { +509 if (_isMicrosystemDisabled) { +510 return; +511 } +512 +513 setFollowProfile(false); +514 _primaryMotor.setControl(_requestedVelocityVoltage.withVelocity(rollerRotToMotor(rps)) +515 .withFeedForward(withFF ? _rollerFF.calculate(rps) : 0.0)); +516 } +517 +518 /** +519 * Checks if the roller is at the target speed +520 * +521 * @param targetSpeed target speed in rotations per second +522 * @return if roller is at target speed +523 */ +524 public boolean isRollerAtTargetSpeed(double targetSpeed) { +525 if (_isMicrosystemDisabled) { +526 return true; +527 } +528 return AlgebraicUtils.inTolerance( +529 getRollerVelocity() - targetSpeed, +530 -_defaultRollerLowerToleranceRot, +531 _defaultRollerUpperToleranceRot +532 ); +533 } +534 +535 /** +536 * Command that sets the roller power +537 * +538 * @param power roller power +539 * @return instant command to set roller power +540 */ +541 public Command setRollerPowerCmd(double power) { +542 return new InstantCommand(() -> setRollerPower(power)); +543 } +544 +545 /** +546 * Command that sets the velocity of the roller in rotations per second +547 * +548 * @param rps rotations per second +549 * @return instant command to set roller velocity +550 */ +551 public Command setRollerRPSCmd(double rps) { +552 return new InstantCommand(() -> setRollerVelocity(rps, false)); +553 } +554 +555 /** +556 * Command that sets the velocity of the roller in rotations per second with feedforward +557 * +558 * @param rps rotations per second +559 * @return instant command to set roller velocity with feedforward +560 */ +561 public Command setRollerRPSWithFFCmd(double rps) { +562 return new InstantCommand(() -> setRollerVelocity(rps, true)); +563 } +564 +565 /** +566 * Command that sets the power of the primary motor (zero if interrupted) +567 * +568 * @param power roller power +569 * @return start end command to set roller power +570 */ +571 public Command startEndRollerPowerCmd(double power) { +572 return (Commands.startEnd(() -> setRollerPower(power), () -> setRollerPower(0.0))); +573 } +574 +575 /** +576 * Command that sets the velocity of the roller in rotations per second (sets zero power if +577 * interrupted) +578 * +579 * @param rps rotations per second +580 * @return start end command to set roller velocity +581 */ +582 public Command startEndRollerRPSCmd(double rps) { +583 return Commands.startEnd(() -> setRollerVelocity(rps, false), () -> setRollerPower(0.0)); +584 } +585 +586 /** +587 * Command that sets the velocity of the roller in rotations per second with feedforward. (sets +588 * zero power if interrupted) +589 * +590 * @param rps rotations per second +591 * @return start end command to set roller velocity with feedforward +592 */ +593 public Command startEndRollerRPSWithFFCmd(double rps) { +594 return Commands.startEnd(() -> setRollerVelocity(rps, true), () -> setRollerPower(0.0)); +595 } +596 +597 /** +598 * Bounds checking function that uses the current roller position +599 * +600 * @param lowerBound minimum of acceptable range +601 * @param upperBound maximum of acceptable range +602 * @return if the current position is in specified acceptable range +603 */ +604 public boolean isRollerInTolerance(double lowerBound, double upperBound) { +605 if (_isMicrosystemDisabled) { +606 return true; +607 } +608 return AlgebraicUtils.inTolerance(getRollerPosition(), lowerBound, upperBound); +609 } +610 +611 @Override +612 public void holdCurrentPosition() { +613 setRollerProfile(getRollerPosition(), 0.0); +614 setFollowProfile(true); +615 } +616 +617 /** +618 * Retrieves ligaments attached to roller Mechanism2d +619 * +620 * @return roller ligaments +621 */ +622 public ArrayList<MechanismLigament2d> getRollerLigaments() { +623 return _rollerLigaments; +624 } +625} diff --git a/docs/src-html/tagalong/subsystems/micro/confs/FlywheelConf.html b/docs/src-html/tagalong/subsystems/micro/confs/FlywheelConf.html index 71c6cb0..8679516 100644 --- a/docs/src-html/tagalong/subsystems/micro/confs/FlywheelConf.html +++ b/docs/src-html/tagalong/subsystems/micro/confs/FlywheelConf.html @@ -59,86 +59,89 @@ 046 * @param rootX sim root x coordinate 047 * @param rootY sim root y coordinate 048 * @param simNumLigaments number of simulated ligaments used -049 * @param rollerMOI moment of inertia for the roller -050 */ -051 public FlywheelConf( -052 String name, -053 Motors[] motorTypes, -054 int[] motorDeviceIDs, -055 String[] motorCanBus, -056 InvertedValue[] motorDirection, -057 NeutralModeValue[] motorEnabledBrakeMode, -058 NeutralModeValue[] motorDisabledBrakeMode, -059 int[][] gearRatio, -060 DistanceUnits trapezoidalLengthUnit, -061 VelocityUnits trapezoidalVelocityUnit, -062 double trapezoidalLimitsVelocity, -063 AccelerationUnits trapezoidalAccelerationUnit, -064 double trapezoidalLimitsAcceleration, -065 DistanceUnits defaultTolerancesUnit, -066 double defaultLowerTolerance, -067 double defaultUpperTolerance, -068 FeedforwardConstants feedForward, -069 FeedforwardConstants simFeedForward, -070 CurrentLimitsConfigs currentLimitsConfigs, -071 PIDSGVAConstants slot0, -072 PIDSGVAConstants slot1, -073 PIDSGVAConstants slot2, -074 PIDSGVAConstants simSlot0, -075 PIDSGVAConstants simSlot1, -076 PIDSGVAConstants simSlot2, -077 double mech2dDim, -078 String rootName, -079 double rootX, -080 double rootY, -081 int simNumLigaments, -082 double rollerMOI -083 -084 ) { -085 super( -086 name, -087 motorTypes, -088 motorDeviceIDs, -089 motorCanBus, -090 motorDirection, -091 motorEnabledBrakeMode, -092 motorDisabledBrakeMode, -093 gearRatio, -094 trapezoidalLengthUnit, -095 VelocityUnits.ROTATIONS_PER_SECOND, -096 trapezoidalVelocityUnit.convertX( -097 trapezoidalLimitsVelocity, VelocityUnits.ROTATIONS_PER_SECOND -098 ), -099 AccelerationUnits.ROTATIONS_PER_SECOND2, -100 trapezoidalAccelerationUnit.convertX( -101 trapezoidalLimitsAcceleration, AccelerationUnits.ROTATIONS_PER_SECOND2 -102 ), -103 DistanceUnits.ROTATION, -104 defaultTolerancesUnit.convertX(defaultLowerTolerance, DistanceUnits.ROTATION), -105 defaultTolerancesUnit.convertX(defaultUpperTolerance, DistanceUnits.ROTATION), -106 feedForward, -107 simFeedForward, -108 currentLimitsConfigs, -109 slot0, -110 slot1, -111 slot2, -112 simSlot0, -113 simSlot1, -114 simSlot2, -115 mech2dDim, -116 rootName, -117 rootX, -118 rootY, -119 simNumLigaments, -120 rollerMOI -121 ); -122 -123 for (int i = 0; i < numMotors; i++) { -124 motorConfig[i].MotorOutput.PeakReverseDutyCycle = 0.0; -125 motorConfig[i].Voltage.PeakReverseVoltage = 0.0; -126 } -127 } -128} +049 * @param ligamentsLength length of simulated ligaments +050 * @param rollerMOI moment of inertia for the roller +051 */ +052 public FlywheelConf( +053 String name, +054 Motors[] motorTypes, +055 int[] motorDeviceIDs, +056 String[] motorCanBus, +057 InvertedValue[] motorDirection, +058 NeutralModeValue[] motorEnabledBrakeMode, +059 NeutralModeValue[] motorDisabledBrakeMode, +060 int[][] gearRatio, +061 DistanceUnits trapezoidalLengthUnit, +062 VelocityUnits trapezoidalVelocityUnit, +063 double trapezoidalLimitsVelocity, +064 AccelerationUnits trapezoidalAccelerationUnit, +065 double trapezoidalLimitsAcceleration, +066 DistanceUnits defaultTolerancesUnit, +067 double defaultLowerTolerance, +068 double defaultUpperTolerance, +069 FeedforwardConstants feedForward, +070 FeedforwardConstants simFeedForward, +071 CurrentLimitsConfigs currentLimitsConfigs, +072 PIDSGVAConstants slot0, +073 PIDSGVAConstants slot1, +074 PIDSGVAConstants slot2, +075 PIDSGVAConstants simSlot0, +076 PIDSGVAConstants simSlot1, +077 PIDSGVAConstants simSlot2, +078 double mech2dDim, +079 String rootName, +080 double rootX, +081 double rootY, +082 int simNumLigaments, +083 double ligamentsLength, +084 double rollerMOI +085 +086 ) { +087 super( +088 name, +089 motorTypes, +090 motorDeviceIDs, +091 motorCanBus, +092 motorDirection, +093 motorEnabledBrakeMode, +094 motorDisabledBrakeMode, +095 gearRatio, +096 trapezoidalLengthUnit, +097 VelocityUnits.ROTATIONS_PER_SECOND, +098 trapezoidalVelocityUnit.convertX( +099 trapezoidalLimitsVelocity, VelocityUnits.ROTATIONS_PER_SECOND +100 ), +101 AccelerationUnits.ROTATIONS_PER_SECOND2, +102 trapezoidalAccelerationUnit.convertX( +103 trapezoidalLimitsAcceleration, AccelerationUnits.ROTATIONS_PER_SECOND2 +104 ), +105 DistanceUnits.ROTATION, +106 defaultTolerancesUnit.convertX(defaultLowerTolerance, DistanceUnits.ROTATION), +107 defaultTolerancesUnit.convertX(defaultUpperTolerance, DistanceUnits.ROTATION), +108 feedForward, +109 simFeedForward, +110 currentLimitsConfigs, +111 slot0, +112 slot1, +113 slot2, +114 simSlot0, +115 simSlot1, +116 simSlot2, +117 mech2dDim, +118 rootName, +119 rootX, +120 rootY, +121 simNumLigaments, +122 ligamentsLength, +123 rollerMOI +124 ); +125 +126 for (int i = 0; i < numMotors; i++) { +127 motorConfig[i].MotorOutput.PeakReverseDutyCycle = 0.0; +128 motorConfig[i].Voltage.PeakReverseVoltage = 0.0; +129 } +130 } +131} diff --git a/docs/src-html/tagalong/subsystems/micro/confs/RollerConf.html b/docs/src-html/tagalong/subsystems/micro/confs/RollerConf.html index 9dcece9..d11232e 100644 --- a/docs/src-html/tagalong/subsystems/micro/confs/RollerConf.html +++ b/docs/src-html/tagalong/subsystems/micro/confs/RollerConf.html @@ -56,120 +56,127 @@ 043 */ 044 public final int simNumLigaments; 045 /** -046 * Moment of inertia for the roller +046 * Length of simulated ligaments 047 */ -048 public final double rollerMOI; +048 public final double ligamentsLength; 049 /** -050 * Motor feedforward model +050 * Moment of inertia for the roller 051 */ -052 public final SimpleMotorFeedforward feedForward; -053 -054 /** -055 * -056 * @param name name of the subsystem -057 * @param motorTypes array of motor types used -058 * @param motorDeviceIDs CAN IDs of the motors -059 * @param motorCanBus CAN buses which the motors are connected to -060 * @param motorDirection motor inversion settings -061 * @param motorEnabledBrakeMode brake mode when motors are enabled -062 * @param motorDisabledBrakeMode brake mode when motors are disabled -063 * @param gearRatio gear ratios -064 * @param trapezoidalLengthUnit units for trapezoidal motion length -065 * @param trapezoidalVelocityUnit units for trapezoidal motion velocity -066 * @param trapezoidalLimitsVelocity velocity limits for trapezoidal motion -067 * @param trapezoidalAccelerationUnit units for trapezoidal motion acceleration -068 * @param trapezoidalLimitsAcceleration acceleration limits for trapezoidal motion -069 * @param defaultTolerancesUnit default unit of the tolerance values -070 * @param defaultLowerTolerance default lower tolerance -071 * @param defaultUpperTolerance default upper tolerance -072 * @param feedForward feedforward constants -073 * @param simFeedForward simulated feedforward constants -074 * @param currentLimitsConfigs current limit configurations -075 * @param slot0 PID slot 0 configuration -076 * @param slot1 PID slot 1 configuration -077 * @param slot2 PID slot 2 configuration -078 * @param simSlot0 simulated PID slot 0 configuration -079 * @param simSlot1 simulated PID slot 1 configuration -080 * @param simSlot2 simulated PID slot 2 configuration -081 * @param mech2dDim dimensions of mechanical system -082 * @param rootName sim root name -083 * @param rootX sim root x coordinate -084 * @param rootY sim root y coordinate -085 * @param simNumLigaments number of simulated ligaments used -086 * @param rollerMOI moment of inertia for the roller -087 */ -088 public RollerConf( -089 String name, -090 Motors[] motorTypes, -091 int[] motorDeviceIDs, -092 String[] motorCanBus, -093 InvertedValue[] motorDirection, -094 NeutralModeValue[] motorEnabledBrakeMode, -095 NeutralModeValue[] motorDisabledBrakeMode, -096 int[][] gearRatio, -097 DistanceUnits trapezoidalLengthUnit, -098 VelocityUnits trapezoidalVelocityUnit, -099 double trapezoidalLimitsVelocity, -100 AccelerationUnits trapezoidalAccelerationUnit, -101 double trapezoidalLimitsAcceleration, -102 DistanceUnits defaultTolerancesUnit, -103 double defaultLowerTolerance, -104 double defaultUpperTolerance, -105 FeedforwardConstants feedForward, -106 FeedforwardConstants simFeedForward, -107 CurrentLimitsConfigs currentLimitsConfigs, -108 PIDSGVAConstants slot0, -109 PIDSGVAConstants slot1, -110 PIDSGVAConstants slot2, -111 PIDSGVAConstants simSlot0, -112 PIDSGVAConstants simSlot1, -113 PIDSGVAConstants simSlot2, -114 double mech2dDim, -115 String rootName, -116 double rootX, -117 double rootY, -118 int simNumLigaments, -119 double rollerMOI -120 ) { -121 super( -122 name, -123 motorTypes, -124 motorDeviceIDs, -125 motorCanBus, -126 motorDirection, -127 motorEnabledBrakeMode, -128 motorDisabledBrakeMode, -129 gearRatio, -130 trapezoidalLengthUnit, -131 VelocityUnits.ROTATIONS_PER_SECOND, -132 trapezoidalVelocityUnit.convertX( -133 trapezoidalLimitsVelocity, VelocityUnits.ROTATIONS_PER_SECOND -134 ), -135 AccelerationUnits.ROTATIONS_PER_SECOND2, -136 trapezoidalAccelerationUnit.convertX( -137 trapezoidalLimitsAcceleration, AccelerationUnits.ROTATIONS_PER_SECOND2 -138 ), -139 DistanceUnits.ROTATION, -140 defaultTolerancesUnit.convertX(defaultLowerTolerance, DistanceUnits.ROTATION), -141 defaultTolerancesUnit.convertX(defaultUpperTolerance, DistanceUnits.ROTATION), -142 currentLimitsConfigs, -143 slot0, -144 slot1, -145 slot2, -146 simSlot0, -147 simSlot1, -148 simSlot2 -149 ); -150 this.mech2dDim = mech2dDim; -151 this.rootName = rootName; -152 this.rootX = rootX; -153 this.rootY = rootY; -154 this.simNumLigaments = simNumLigaments; -155 this.rollerMOI = rollerMOI; -156 this.feedForward = IterativeRobotBase.isReal() ? feedForward.getSimpleMotorFeedforward() -157 : simFeedForward.getSimpleMotorFeedforward(); -158 } -159} +052 public final double rollerMOI; +053 /** +054 * Motor feedforward model +055 */ +056 public final SimpleMotorFeedforward feedForward; +057 +058 /** +059 * +060 * @param name name of the subsystem +061 * @param motorTypes array of motor types used +062 * @param motorDeviceIDs CAN IDs of the motors +063 * @param motorCanBus CAN buses which the motors are connected to +064 * @param motorDirection motor inversion settings +065 * @param motorEnabledBrakeMode brake mode when motors are enabled +066 * @param motorDisabledBrakeMode brake mode when motors are disabled +067 * @param gearRatio gear ratios +068 * @param trapezoidalLengthUnit units for trapezoidal motion length +069 * @param trapezoidalVelocityUnit units for trapezoidal motion velocity +070 * @param trapezoidalLimitsVelocity velocity limits for trapezoidal motion +071 * @param trapezoidalAccelerationUnit units for trapezoidal motion acceleration +072 * @param trapezoidalLimitsAcceleration acceleration limits for trapezoidal motion +073 * @param defaultTolerancesUnit default unit of the tolerance values +074 * @param defaultLowerTolerance default lower tolerance +075 * @param defaultUpperTolerance default upper tolerance +076 * @param feedForward feedforward constants +077 * @param simFeedForward simulated feedforward constants +078 * @param currentLimitsConfigs current limit configurations +079 * @param slot0 PID slot 0 configuration +080 * @param slot1 PID slot 1 configuration +081 * @param slot2 PID slot 2 configuration +082 * @param simSlot0 simulated PID slot 0 configuration +083 * @param simSlot1 simulated PID slot 1 configuration +084 * @param simSlot2 simulated PID slot 2 configuration +085 * @param mech2dDim dimensions of mechanical system +086 * @param rootName sim root name +087 * @param rootX sim root x coordinate +088 * @param rootY sim root y coordinate +089 * @param simNumLigaments number of simulated ligaments used +090 * @param ligamentsLength length of simulated ligaments +091 * @param rollerMOI moment of inertia for the roller +092 */ +093 public RollerConf( +094 String name, +095 Motors[] motorTypes, +096 int[] motorDeviceIDs, +097 String[] motorCanBus, +098 InvertedValue[] motorDirection, +099 NeutralModeValue[] motorEnabledBrakeMode, +100 NeutralModeValue[] motorDisabledBrakeMode, +101 int[][] gearRatio, +102 DistanceUnits trapezoidalLengthUnit, +103 VelocityUnits trapezoidalVelocityUnit, +104 double trapezoidalLimitsVelocity, +105 AccelerationUnits trapezoidalAccelerationUnit, +106 double trapezoidalLimitsAcceleration, +107 DistanceUnits defaultTolerancesUnit, +108 double defaultLowerTolerance, +109 double defaultUpperTolerance, +110 FeedforwardConstants feedForward, +111 FeedforwardConstants simFeedForward, +112 CurrentLimitsConfigs currentLimitsConfigs, +113 PIDSGVAConstants slot0, +114 PIDSGVAConstants slot1, +115 PIDSGVAConstants slot2, +116 PIDSGVAConstants simSlot0, +117 PIDSGVAConstants simSlot1, +118 PIDSGVAConstants simSlot2, +119 double mech2dDim, +120 String rootName, +121 double rootX, +122 double rootY, +123 int simNumLigaments, +124 double ligamentsLength, +125 double rollerMOI +126 ) { +127 super( +128 name, +129 motorTypes, +130 motorDeviceIDs, +131 motorCanBus, +132 motorDirection, +133 motorEnabledBrakeMode, +134 motorDisabledBrakeMode, +135 gearRatio, +136 trapezoidalLengthUnit, +137 VelocityUnits.ROTATIONS_PER_SECOND, +138 trapezoidalVelocityUnit.convertX( +139 trapezoidalLimitsVelocity, VelocityUnits.ROTATIONS_PER_SECOND +140 ), +141 AccelerationUnits.ROTATIONS_PER_SECOND2, +142 trapezoidalAccelerationUnit.convertX( +143 trapezoidalLimitsAcceleration, AccelerationUnits.ROTATIONS_PER_SECOND2 +144 ), +145 DistanceUnits.ROTATION, +146 defaultTolerancesUnit.convertX(defaultLowerTolerance, DistanceUnits.ROTATION), +147 defaultTolerancesUnit.convertX(defaultUpperTolerance, DistanceUnits.ROTATION), +148 currentLimitsConfigs, +149 slot0, +150 slot1, +151 slot2, +152 simSlot0, +153 simSlot1, +154 simSlot2 +155 ); +156 this.mech2dDim = mech2dDim; +157 this.rootName = rootName; +158 this.rootX = rootX; +159 this.rootY = rootY; +160 this.simNumLigaments = simNumLigaments; +161 this.ligamentsLength = ligamentsLength; +162 this.rollerMOI = rollerMOI; +163 this.feedForward = IterativeRobotBase.isReal() ? feedForward.getSimpleMotorFeedforward() +164 : simFeedForward.getSimpleMotorFeedforward(); +165 } +166} diff --git a/docs/tagalong/subsystems/micro/Roller.html b/docs/tagalong/subsystems/micro/Roller.html index cbf32b7..88b780b 100644 --- a/docs/tagalong/subsystems/micro/Roller.html +++ b/docs/tagalong/subsystems/micro/Roller.html @@ -562,7 +562,7 @@

simulationInit

  • simulationPeriodic

    -
    public void simulationPeriodic()
    +
    public void simulationPeriodic()
    Description copied from class: Microsystem
    Periodic function during simulation
    @@ -574,7 +574,7 @@

    simulationPeriodic

  • motorResetConfig

    -
    public boolean motorResetConfig()
    +
    public boolean motorResetConfig()
    Overrides:
    motorResetConfig in class Microsystem
    @@ -588,7 +588,7 @@

    motorResetConfig

  • updateShuffleboard

    -
    public void updateShuffleboard()
    +
    public void updateShuffleboard()
    Description copied from class: Microsystem
    Updates shuffleboard
    @@ -600,7 +600,7 @@

    updateShuffleboard

  • configShuffleboard

    -
    public void configShuffleboard()
    +
    public void configShuffleboard()
    Description copied from class: Microsystem
    Configures a user interface on the Shuffleboard for the specified micro system
    @@ -613,7 +613,7 @@

    configShuffleboard

  • motorToRollerRot

    -
    public double motorToRollerRot(double motorRot)
    +
    public double motorToRollerRot(double motorRot)
    Converts motor rotations to roller rotations
    Parameters:
    @@ -626,7 +626,7 @@

    motorToRollerRot

  • rollerRotToMotor

    -
    public double rollerRotToMotor(double rollerRot)
    +
    public double rollerRotToMotor(double rollerRot)
    Converts motor rotations to roller rotations
    Parameters:
    @@ -639,7 +639,7 @@

    rollerRotToMotor

  • followLastProfile

    -
    public void followLastProfile()
    +
    public void followLastProfile()
    Calculates the next state according to the trapezoidal profile and requests the roller motor(s) to arrive at the next position with feedforward
    @@ -647,7 +647,7 @@

    followLastProfile

  • setRollerProfile

    -
    public void setRollerProfile(Angle goalPosition)
    +
    public void setRollerProfile(Angle goalPosition)
    Creates a new trapezoidal profile for the roller to follow
    Parameters:
    @@ -658,7 +658,7 @@

    setRollerProfile

  • setRollerProfile

    -
    public void setRollerProfile(Angle goalPosition, +
    public void setRollerProfile(Angle goalPosition, double goalVelocityRPS)
    Creates a new trapezoidal profile for the roller to follow
    @@ -671,7 +671,7 @@

    setRollerProfile

  • setRollerProfile

    -
    public void setRollerProfile(Angle goalPosition, +
    public void setRollerProfile(Angle goalPosition, double goalVelocityRPS, double maxVelocityRPS)
    Creates a new trapezoidal profile for the roller to follow
    @@ -686,7 +686,7 @@

    setRollerProfile

  • setRollerProfile

    -
    public void setRollerProfile(Angle goalPosition, +
    public void setRollerProfile(Angle goalPosition, double goalVelocityRPS, double maxVelocityRPS, double maxAccelerationRPS2)
    @@ -703,7 +703,7 @@

    setRollerProfile

  • setRollerProfile

    -
    public void setRollerProfile(Angle goalPosition, +
    public void setRollerProfile(Angle goalPosition, double goalVelocityRPS, double maxVelocityRPS, double maxAccelerationRPS2, @@ -723,7 +723,7 @@

    setRollerProfile

  • setRollerProfile

    -
    public void setRollerProfile(double goalPositionRot)
    +
    public void setRollerProfile(double goalPositionRot)
    Creates a new trapezoidal profile for the roller to follow
    Parameters:
    @@ -734,7 +734,7 @@

    setRollerProfile

  • setRollerProfile

    -
    public void setRollerProfile(double goalPositionRot, +
    public void setRollerProfile(double goalPositionRot, double goalVelocityRPS)
    Creates a new trapezoidal profile for the roller to follow
    @@ -747,7 +747,7 @@

    setRollerProfile

  • setRollerProfile

    -
    public void setRollerProfile(double goalPositionRot, +
    public void setRollerProfile(double goalPositionRot, double goalVelocityRPS, double maxVelocityRPS)
    Creates a new trapezoidal profile for the roller to follow
    @@ -762,7 +762,7 @@

    setRollerProfile

  • setRollerProfile

    -
    public void setRollerProfile(double goalPositionRot, +
    public void setRollerProfile(double goalPositionRot, double goalVelocityRPS, double maxVelocityRPS, double maxAccelerationRPS2)
    @@ -779,7 +779,7 @@

    setRollerProfile

  • setRollerProfile

    -
    public void setRollerProfile(double goalPositionRot, +
    public void setRollerProfile(double goalPositionRot, double goalVelocityRPS, double maxVelocityRPS, double maxAccelerationRPS2, @@ -799,7 +799,7 @@

    setRollerProfile

  • setRollerPower

    -
    public void setRollerPower(double power)
    +
    public void setRollerPower(double power)
    Sets the power of the primary roller motor
    Parameters:
    @@ -810,7 +810,7 @@

    setRollerPower

  • getRollerPower

    -
    public double getRollerPower()
    +
    public double getRollerPower()
    Gets the power of the primary roller motor
    Returns:
    @@ -821,7 +821,7 @@

    getRollerPower

  • getRollerPosition

    -
    public double getRollerPosition()
    +
    public double getRollerPosition()
    Gets the position of the roller in rotations
    Returns:
    @@ -832,7 +832,7 @@

    getRollerPosition

  • getRollerVelocity

    -
    public double getRollerVelocity()
    +
    public double getRollerVelocity()
    Gets the velocity of roller in rotations
    Returns:
    @@ -843,7 +843,7 @@

    getRollerVelocity

  • setRollerVelocity

    -
    public void setRollerVelocity(double rps, +
    public void setRollerVelocity(double rps, boolean withFF)
    Sets the velocity of the roller in RPS
    @@ -856,7 +856,7 @@

    setRollerVelocity

  • isRollerAtTargetSpeed

    -
    public boolean isRollerAtTargetSpeed(double targetSpeed)
    +
    public boolean isRollerAtTargetSpeed(double targetSpeed)
    Checks if the roller is at the target speed
    Parameters:
    @@ -869,7 +869,7 @@

    isRollerAtTargetSpeed

  • setRollerPowerCmd

    -
    public Command setRollerPowerCmd(double power)
    +
    public Command setRollerPowerCmd(double power)
    Command that sets the roller power
    Parameters:
    @@ -882,7 +882,7 @@

    setRollerPowerCmd

  • setRollerRPSCmd

    -
    public Command setRollerRPSCmd(double rps)
    +
    public Command setRollerRPSCmd(double rps)
    Command that sets the velocity of the roller in rotations per second
    Parameters:
    @@ -895,7 +895,7 @@

    setRollerRPSCmd

  • setRollerRPSWithFFCmd

    -
    public Command setRollerRPSWithFFCmd(double rps)
    +
    public Command setRollerRPSWithFFCmd(double rps)
    Command that sets the velocity of the roller in rotations per second with feedforward
    Parameters:
    @@ -908,7 +908,7 @@

    setRollerRPSWithFFCmd

  • startEndRollerPowerCmd

    -
    public Command startEndRollerPowerCmd(double power)
    +
    public Command startEndRollerPowerCmd(double power)
    Command that sets the power of the primary motor (zero if interrupted)
    Parameters:
    @@ -921,7 +921,7 @@

    startEndRollerPowerCmd

  • startEndRollerRPSCmd

    -
    public Command startEndRollerRPSCmd(double rps)
    +
    public Command startEndRollerRPSCmd(double rps)
    Command that sets the velocity of the roller in rotations per second (sets zero power if interrupted)
    @@ -935,7 +935,7 @@

    startEndRollerRPSCmd

  • startEndRollerRPSWithFFCmd

    -
    public Command startEndRollerRPSWithFFCmd(double rps)
    +
    public Command startEndRollerRPSWithFFCmd(double rps)
    Command that sets the velocity of the roller in rotations per second with feedforward. (sets zero power if interrupted)
    @@ -949,7 +949,7 @@

    startEndRollerRPSWithFFCmd

  • isRollerInTolerance

    -
    public boolean isRollerInTolerance(double lowerBound, +
    public boolean isRollerInTolerance(double lowerBound, double upperBound)
    Bounds checking function that uses the current roller position
    @@ -964,7 +964,7 @@

    isRollerInTolerance

  • holdCurrentPosition

    -
    public void holdCurrentPosition()
    +
    public void holdCurrentPosition()
    Description copied from class: Microsystem
    Sets the power of the primary motor to zero
    @@ -976,7 +976,7 @@

    holdCurrentPosition

  • getRollerLigaments

    -
    public ArrayList<MechanismLigament2d> getRollerLigaments()
    +
    public ArrayList<MechanismLigament2d> getRollerLigaments()
    Retrieves ligaments attached to roller Mechanism2d
    Returns:
    diff --git a/docs/tagalong/subsystems/micro/confs/FlywheelConf.html b/docs/tagalong/subsystems/micro/confs/FlywheelConf.html index 3c3573f..5cb74c5 100644 --- a/docs/tagalong/subsystems/micro/confs/FlywheelConf.html +++ b/docs/tagalong/subsystems/micro/confs/FlywheelConf.html @@ -87,7 +87,7 @@

    Class FlywheelConf

    Field Summary

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

    -feedForward, mech2dDim, rollerMOI, rootName, rootX, rootY, simNumLigaments
    +feedForward, ligamentsLength, 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
    @@ -101,7 +101,7 @@

    Constructor Summary

    Constructor
    Description
    -
    FlywheelConf(String name, +
    FlywheelConf(String name, Motors[] motorTypes, int[] motorDeviceIDs, String[] motorCanBus, @@ -131,6 +131,7 @@

    Constructor Summary

    double rootX, double rootY, int simNumLigaments, + double ligamentsLength, double rollerMOI)
     
    @@ -158,9 +159,9 @@

    Methods inherited from cl

    Constructor Details

    • -
      +

      FlywheelConf

      -
      public FlywheelConf(String name, +
      public FlywheelConf(String name, Motors[] motorTypes, int[] motorDeviceIDs, String[] motorCanBus, @@ -190,6 +191,7 @@

      FlywheelConf

      double rootX, double rootY, int simNumLigaments, + double ligamentsLength, double rollerMOI)
      Parameters:
      @@ -223,6 +225,7 @@

      FlywheelConf

      rootX - sim root x coordinate
      rootY - sim root y coordinate
      simNumLigaments - number of simulated ligaments used
      +
      ligamentsLength - length of simulated ligaments
      rollerMOI - moment of inertia for the roller
      diff --git a/docs/tagalong/subsystems/micro/confs/RollerConf.html b/docs/tagalong/subsystems/micro/confs/RollerConf.html index 5dd7f38..52e993b 100644 --- a/docs/tagalong/subsystems/micro/confs/RollerConf.html +++ b/docs/tagalong/subsystems/micro/confs/RollerConf.html @@ -98,33 +98,38 @@

      Field Summary

      Motor feedforward model
    final double
    -
    mech2dDim
    +
    ligamentsLength
    -
    Dimension of the mechanical system
    +
    Length of simulated ligaments
    final double
    -
    rollerMOI
    +
    mech2dDim
    -
    Moment of inertia for the roller
    +
    Dimension of the mechanical system
    -
    final String
    -
    rootName
    +
    final double
    +
    rollerMOI
    -
    Sim root name
    +
    Moment of inertia for the roller
    -
    final double
    -
    rootX
    +
    final String
    +
    rootName
    -
    Sim root x coordinate
    +
    Sim root name
    final double
    -
    rootY
    +
    rootX
    -
    Sim root y coordinate
    +
    Sim root x coordinate
    -
    final int
    -
    simNumLigaments
    +
    final double
    +
    rootY
    +
    Sim root y coordinate
    +
    +
    final int
    +
    simNumLigaments
    +
    Number of simulated ligaments used
    • @@ -141,7 +146,7 @@

    Constructor Summary

    Constructor
    Description
    -
    RollerConf(String name, +
    RollerConf(String name, Motors[] motorTypes, int[] motorDeviceIDs, String[] motorCanBus, @@ -171,6 +176,7 @@

    Constructor Summary

    double rootX, double rootY, int simNumLigaments, + double ligamentsLength, double rollerMOI)
     
    @@ -233,16 +239,23 @@

    simNumLigaments

  • +
    +

    ligamentsLength

    +
    public final double ligamentsLength
    +
    Length of simulated ligaments
    +
    +
    • +

  • rollerMOI

    -
    public final double rollerMOI
    +
    public final double rollerMOI
    Moment of inertia for the roller

  • feedForward

    -
    public final SimpleMotorFeedforward feedForward
    +
    public final SimpleMotorFeedforward feedForward
    Motor feedforward model
    • @@ -255,9 +268,9 @@

    feedForward

    Constructor Details

    • -
      +

      RollerConf

      -
      public RollerConf(String name, +
      public RollerConf(String name, Motors[] motorTypes, int[] motorDeviceIDs, String[] motorCanBus, @@ -287,6 +300,7 @@

      RollerConf

      double rootX, double rootY, int simNumLigaments, + double ligamentsLength, double rollerMOI)
      Parameters:
      @@ -320,6 +334,7 @@

      RollerConf

      rootX - sim root x coordinate
      rootY - sim root y coordinate
      simNumLigaments - number of simulated ligaments used
      +
      ligamentsLength - length of simulated ligaments
      rollerMOI - moment of inertia for the roller