Controls the climber of the robot. More...

#include <climber_subsystem.h>

Inheritance diagram for ClimberSubsystem:

Public Member Functions
	ClimberSubsystem (const argos_lib::RobotInstance instance, const std::vector< ClimberPoint > *preClimbPoints)

void	Periodic () override

void	ManualControl (double hookSpeed, double armSpeed)
	manually moves the hook, and/or arm More...

void	MoveHook (double hookSpeed)
	Move hook at specified percent speed. More...

void	MoveArm (double armSpeed)
	Move arm at specified percent speed. More...

void	UpdateHookHome ()
	Update hook home position. More...

void	UpdateArmHome ()
	Update arm home position. More...

void	ArmSetPosition (units::inch_t extension)
	Sets arm linear actuator positions under closed loop control. More...

void	ArmSetPosition (units::inch_t extension, units::inches_per_second_t cruiseVelocity, units::inches_per_second_squared_t acceleration)
	Sets arm linear actuator positions under closed loop control using motion magic. More...

void	HooksSetPosition (units::inch_t extension)
	Set hooks to a given position under closed-loop control. More...

void	HooksSetPosition (units::inch_t extension, units::inches_per_second_t cruiseVelocity, units::inches_per_second_squared_t acceleration)
	Set hooks to a given position under closed-loop control using motion magic. More...

bool	IsHookHomed ()
	Detect if hook homing is complete. More...

bool	IsArmHomed ()
	Detect if arm homing is complete. More...

bool	IsHookMoving ()
	Detect if hook is in motion. More...

bool	IsArmMoving ()
	Detect if arm is in motion. More...

bool	IsManualOverride ()
	Detect if manual control has been enabled. More...

void	Disable ()
	Runs on robot disable to reset manual control. More...

void	ManualOverride ()
	Override automatic control. More...

void	SetHookSoftLimits ()
	Enables the hook soft limits. More...

void	DisableHookSoftLimits ()
	Disables hook soft limit. More...

void	SetClimbReady ()
	Readies the climber for climb sequence. More...

void	ClimberToSetpoint (ClimberPoint setPoint)
	Closed-loop climber to set-point. More...

void	SetClimbMotorsPID (char slot)
	Set Climb Motors PID slot to change power. More...

bool	ClimberAtPoint (ClimberPoint target)
	Determing if the climber is at a setpoint. More...

void	NextReadyPoint ()
	Go to the next ClimberPoint in the pre-climb sequence. More...

void	PreviousReadyPoint ()
	Go to the previous ClimberPoint in the pre-climb sequence. More...

void	AllowReady ()
	Allow climber to go through the ready sequence freely. Publicly exposes m_allowReady. More...

void	DisallowReady ()
	Disable ability to go through ready sequence. Publicly exposes m_allowReady. More...

bool	IsReadySequenceAllowed ()
	Publicly exposes m_allowReady. More...

bool	ClimberReadyToClimb ()
	Determines if climber is able to climb current position. More...

Static Public Member Functions
template<typename T >
static constexpr bool	InThreshold (const T value, const T target, const T threshold)
	Detect if a value is within a threshold of a target value. More...

Private Member Functions
bool	HooksAtPosition (units::inch_t target)
	Detects if the hooks are at a particular target. More...

bool	ArmsAtPosition (units::inch_t target)
	Detects if the arms are at a particular target. More...

Private Attributes
const argos_lib::CANAddress	m_motorLiftRightAddr

const argos_lib::CANAddress	m_motorLiftLeftAddr

const argos_lib::CANAddress	m_motorMoveHookAddr

WPI_TalonFX	m_motorLiftRight
	Right ball-screw driver motor for raising arms. More...

WPI_TalonFX	m_motorLiftLeft
	Left ball-screw driver motor for raising arms. More...

WPI_TalonFX	m_motorMoveHook
	Hook chain drive motor. More...

bool	m_hookHomed
	True if the hooks are homed. More...

bool	m_armHomed
	True if the arms are homed. More...

bool	m_allowReady
	True if the climber can go through ready sequence. More...

bool	m_manualOverride
	True if the operator has manually overriden while closed-loop is running. More...

const std::vector< ClimberPoint > *	m_pPreClimbPoints
	std::vector containing ClimberPoints in the ready sequence More...

std::vector< ClimberPoint >::const_iterator	m_itClimberPoint
	Random-Access iterator that points to a specific ClimberPoint in the readySequence (used as bi-directional) More...

argos_lib::NTMotorPIDTuner	m_armPIDTuner
	Member for tuning arm PID controls. More...

argos_lib::NTMotorPIDTuner	m_hookPIDTuner
	Member for tuning hook controls. More...

Detailed Description

Controls the climber of the robot.

Copyright: Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project.

Constructor & Destructor Documentation

◆ ClimberSubsystem()

ClimberSubsystem::ClimberSubsystem	(	const argos_lib::RobotInstance	instance,
		const std::vector< ClimberPoint > *	preClimbPoints
	)

explicit

Copyright: Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project.

Member Function Documentation

◆ AllowReady()

void ClimberSubsystem::AllowReady ( )

Allow climber to go through the ready sequence freely. Publicly exposes m_allowReady.

◆ ArmsAtPosition()

bool ClimberSubsystem::ArmsAtPosition ( units::inch_t target )

private

Detects if the arms are at a particular target.

Parameters

target Target (height in inches) the arms should be at

Returns: true Arms are at target position; false Arms are outside target position

◆ ArmSetPosition() [1/2]

void ClimberSubsystem::ArmSetPosition ( units::inch_t extension )

Sets arm linear actuator positions under closed loop control.

Parameters

extension Arm position where positive is upward

◆ ArmSetPosition() [2/2]

void ClimberSubsystem::ArmSetPosition	(	units::inch_t	extension,
		units::inches_per_second_t	cruiseVelocity,
		units::inches_per_second_squared_t	acceleration
	)

Sets arm linear actuator positions under closed loop control using motion magic.

Parameters

extension	Arm position where positive is upward
cruiseVelocity	Max movement velocity
acceleration	Max movement acceleration

◆ ClimberAtPoint()

bool ClimberSubsystem::ClimberAtPoint ( ClimberPoint target )

Determing if the climber is at a setpoint.

Parameters

target Target point

Returns: true The climber is at the given point within acceptable error; false Climber not at point, or outside acceptable error

◆ ClimberReadyToClimb()

bool ClimberSubsystem::ClimberReadyToClimb ( )

Determines if climber is able to climb current position.

Returns: true Climber is a the end of the ready sequence, can climb; false Climber is not at the end of the ready sequence, cannot climb

◆ ClimberToSetpoint()

void ClimberSubsystem::ClimberToSetpoint ( ClimberPoint setPoint )

Closed-loop climber to set-point.

Parameters

setPoint Point to send the climber to

◆ Disable()

void ClimberSubsystem::Disable ( )

Runs on robot disable to reset manual control.

◆ DisableHookSoftLimits()

void ClimberSubsystem::DisableHookSoftLimits ( )

Disables hook soft limit.

◆ DisallowReady()

void ClimberSubsystem::DisallowReady ( )

Disable ability to go through ready sequence. Publicly exposes m_allowReady.

◆ HooksAtPosition()

bool ClimberSubsystem::HooksAtPosition ( units::inch_t target )

private

Detects if the hooks are at a particular target.

Parameters

target Target (in inches) the hooks should be at along their rails

Returns: true Hooks are at target position; false Hooks are outside target position

◆ HooksSetPosition() [1/2]

void ClimberSubsystem::HooksSetPosition ( units::inch_t extension )

Set hooks to a given position under closed-loop control.

Parameters

extension Hook position where 0 is at the shoulder and positive is outward

◆ HooksSetPosition() [2/2]

void ClimberSubsystem::HooksSetPosition	(	units::inch_t	extension,
		units::inches_per_second_t	cruiseVelocity,
		units::inches_per_second_squared_t	acceleration
	)

Set hooks to a given position under closed-loop control using motion magic.

Parameters

extension	Hook position where 0 is at the shoulder and positive is outward
cruiseVelocity	Max movement velocity
acceleration	Max movement acceleration

◆ InThreshold()

template<typename T >

static constexpr bool ClimberSubsystem::InThreshold	(	const T	value,
		const T	target,
		const T	threshold
	)

inlinestaticconstexpr

Detect if a value is within a threshold of a target value.

Template Parameters

T	Type that implements operator+(), operator-(), operator<=() and operator>=()

Parameters

value	Value to check
target	Center of range
threshold	Allowable error from target

Returns: true when value is within threshold of target, false otherwise

◆ IsArmHomed()

bool ClimberSubsystem::IsArmHomed ( )

Detect if arm homing is complete.

Returns: True when arm is homed

◆ IsArmMoving()

bool ClimberSubsystem::IsArmMoving ( )

Detect if arm is in motion.

Returns: True when arm is in motion

◆ IsHookHomed()

bool ClimberSubsystem::IsHookHomed ( )

Detect if hook homing is complete.

Returns: True when hook is homed

◆ IsHookMoving()

bool ClimberSubsystem::IsHookMoving ( )

Detect if hook is in motion.

Returns: True when hook is moving

◆ IsManualOverride()

bool ClimberSubsystem::IsManualOverride ( )

Detect if manual control has been enabled.

Returns: True when manual control is active

◆ IsReadySequenceAllowed()

bool ClimberSubsystem::IsReadySequenceAllowed ( )

Publicly exposes m_allowReady.

Returns: true Traversing through the ready sequence is allowed; false Traversing through the ready sequence is not allowed

◆ ManualControl()

void ClimberSubsystem::ManualControl	(	double	hookSpeed,
		double	armSpeed
	)

manually moves the hook, and/or arm

Parameters

hookSpeed	moves hook up or down based on the climber a full forward input is 1.0 and a backwards input is -1.0
armSpeed	moves arm up or down based on the climber a full up input is 1.0 and a full down input is -1.0

◆ ManualOverride()

void ClimberSubsystem::ManualOverride ( )

Override automatic control.

◆ MoveArm()

void ClimberSubsystem::MoveArm ( double armSpeed )

Move arm at specified percent speed.

Parameters

armSpeed moves arm up or down based on the climber a full up input is 1.0 and a full down input is -1.0

◆ MoveHook()

void ClimberSubsystem::MoveHook ( double hookSpeed )

Move hook at specified percent speed.

Parameters

hookSpeed moves hook up or down based on the climber a full forward input is 1.0 and a backwards input is -1.0

◆ NextReadyPoint()

void ClimberSubsystem::NextReadyPoint ( )

Go to the next ClimberPoint in the pre-climb sequence.

◆ Periodic()

void ClimberSubsystem::Periodic ( )

override

Will be called periodically whenever the CommandScheduler runs.

◆ PreviousReadyPoint()

void ClimberSubsystem::PreviousReadyPoint ( )

Go to the previous ClimberPoint in the pre-climb sequence.

◆ SetClimbMotorsPID()

void ClimberSubsystem::SetClimbMotorsPID ( char slot )

Set Climb Motors PID slot to change power.

Parameters

slot	Motor PID slot (see CTRE Falcon 500 docs)

◆ SetClimbReady()

void ClimberSubsystem::SetClimbReady ( )

Readies the climber for climb sequence.

◆ SetHookSoftLimits()

void ClimberSubsystem::SetHookSoftLimits ( )

Enables the hook soft limits.

◆ UpdateArmHome()

void ClimberSubsystem::UpdateArmHome ( )

Update arm home position.

◆ UpdateHookHome()

void ClimberSubsystem::UpdateHookHome ( )

Update hook home position.

Member Data Documentation

◆ m_allowReady

bool ClimberSubsystem::m_allowReady

private

True if the climber can go through ready sequence.

◆ m_armHomed

bool ClimberSubsystem::m_armHomed

private

True if the arms are homed.

◆ m_armPIDTuner

argos_lib::NTMotorPIDTuner ClimberSubsystem::m_armPIDTuner

private

Member for tuning arm PID controls.

◆ m_hookHomed

bool ClimberSubsystem::m_hookHomed

private

True if the hooks are homed.

◆ m_hookPIDTuner

argos_lib::NTMotorPIDTuner ClimberSubsystem::m_hookPIDTuner

private

Member for tuning hook controls.

◆ m_itClimberPoint

std::vector<ClimberPoint>::const_iterator ClimberSubsystem::m_itClimberPoint

private

Random-Access iterator that points to a specific ClimberPoint in the readySequence (used as bi-directional)

◆ m_manualOverride

bool ClimberSubsystem::m_manualOverride

private

True if the operator has manually overriden while closed-loop is running.

◆ m_motorLiftLeft

WPI_TalonFX ClimberSubsystem::m_motorLiftLeft

private

Left ball-screw driver motor for raising arms.

◆ m_motorLiftLeftAddr

const argos_lib::CANAddress ClimberSubsystem::m_motorLiftLeftAddr

private

◆ m_motorLiftRight

WPI_TalonFX ClimberSubsystem::m_motorLiftRight

private

Right ball-screw driver motor for raising arms.

◆ m_motorLiftRightAddr

const argos_lib::CANAddress ClimberSubsystem::m_motorLiftRightAddr

private

◆ m_motorMoveHook

WPI_TalonFX ClimberSubsystem::m_motorMoveHook

private

Hook chain drive motor.

◆ m_motorMoveHookAddr

const argos_lib::CANAddress ClimberSubsystem::m_motorMoveHookAddr

private

◆ m_pPreClimbPoints

const std::vector<ClimberPoint>* ClimberSubsystem::m_pPreClimbPoints

private

std::vector containing ClimberPoints in the ready sequence

The documentation for this class was generated from the following files:

src/main/include/subsystems/climber_subsystem.h
src/main/cpp/subsystems/climber_subsystem.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ClimberSubsystem()

Member Function Documentation

◆ AllowReady()

◆ ArmsAtPosition()

◆ ArmSetPosition() [1/2]

◆ ArmSetPosition() [2/2]

◆ ClimberAtPoint()

◆ ClimberReadyToClimb()

◆ ClimberToSetpoint()

◆ Disable()

◆ DisableHookSoftLimits()

◆ DisallowReady()

◆ HooksAtPosition()

◆ HooksSetPosition() [1/2]

◆ HooksSetPosition() [2/2]

◆ InThreshold()

◆ IsArmHomed()

◆ IsArmMoving()

◆ IsHookHomed()

◆ IsHookMoving()

◆ IsManualOverride()

◆ IsReadySequenceAllowed()

◆ ManualControl()

◆ ManualOverride()

◆ MoveArm()

◆ MoveHook()

◆ NextReadyPoint()

◆ Periodic()

◆ PreviousReadyPoint()

◆ SetClimbMotorsPID()

◆ SetClimbReady()

◆ SetHookSoftLimits()

◆ UpdateArmHome()

◆ UpdateHookHome()

Member Data Documentation

◆ m_allowReady

◆ m_armHomed

◆ m_armPIDTuner

◆ m_hookHomed

◆ m_hookPIDTuner

◆ m_itClimberPoint

◆ m_manualOverride

◆ m_motorLiftLeft

◆ m_motorLiftLeftAddr

◆ m_motorLiftRight

◆ m_motorLiftRightAddr

◆ m_motorMoveHook

◆ m_motorMoveHookAddr

◆ m_pPreClimbPoints