#include <lifter_subsystem.h>

Inheritance diagram for LifterSubsystem:

Classes
struct	LifterPosition

Public Member Functions
	LifterSubsystem (argos_lib::RobotInstance instance)

void	SetShoulderSpeed (double speed)
	Sets the arm speed.

void	SetArmExtensionSpeed (double speed)
	Sets the arm extension motor speed.

void	SetArmExtension (units::inch_t extension)
	Sets the extension of the arm to "extension" inches.

bool	IsExtensionAt (units::inch_t extension)
	Checks if the arm extension is within an error of extension.

void	SetWristSpeed (double speed)
	Sets the wrist speed.

void	StopShoulder ()
	Sets the shoulder motor to zero.

void	StopArmExtension ()
	Sets the arm extension motor to zero.

void	StopWrist ()
	Sets the wrist speed to zero.

bool	IsShoulderManualOverride ()
	Checks if manual shoulder override member is true.

void	SetShoulderManualOverride (bool overrideState)
	Sets the override state of the shoulder.

bool	IsExtensionManualOverride ()
	Checks if manual extension override member is true.

void	SetExtensionManualOverride (bool overrideState)
	Sets the override state of the extension.

bool	IsWristManualOverride ()
	Checks if manual wrist override member is true.

void	SetWristManualOverride (bool overrideState)
	Sets the override state of the wrist.

void	InitializeWristHomes ()
	Initializes wrist homes from file system.

void	SetWristAngle (units::degree_t wristAngle)
	Sets the wrist angle from min and max angles defined in measure_up. Positive is CW looking down the arm from the fulcrum.

units::degree_t	GetWristAbsoluteAngle ()

double	GetLastWristTimestamp ()

void	UpdateWristHome ()
	updating wrist homes for encoder

void	Periodic () override

void	Disable ()
	Handle robot disabling.

bool	IsArmExtensionMoving ()
	Detect if arm is in motion.

bool	IsShoulderMoving ()
	Detect if shoulder is in motion.

bool	ArmExtensionHomeFileExists ()
	Checks if home file for arm extension exists.

void	UpdateArmExtensionHome ()
	Update arm home position.

void	InitializeArmExtensionHome ()
	Initializes the arm extension home from file system.

void	InitializeShoulderHome ()
	Initializes the homed shoulder value from FS.

void	UpdateShoulderHome ()
	Updates shoulder home in FS, resets relative position on sensor.

void	SetShoulderAngle (units::degree_t angle)
	Sets the shoulder joint's angle (see GetShoulderAngle or docs for convention)

bool	IsShoulderAt (units::degree_t angle)
	Checks if the shoulder is within an error of extension.

frc::Translation2d	GetEffectorPose (const WristPosition wristPosition)
	Uses the kinematics object to calculate robot pose.

frc::Translation2d	GetArmPose ()

LifterPosition	SetEffectorPose (const frc::Translation2d &desPose, WristPosition effectorPosition)
	Uses the kinematics object to calculate joint positions for a given pose, then sets the system to that pose.

LifterPosition	SetLifterPose (const frc::Translation2d &desPose)

bool	IsArmExtensionHomed ()
	Is the arm extension homed?

units::degree_t	GetWristAngle ()
	Gets the wrist angle (right handle rule with axis towards front of robot)

WristPosition	GetWristPosition ()

units::inch_t	GetArmExtension ()
	Gets the arm extension (positive is extend out)

units::degree_t	GetShoulderAngle ()
	Gets the shoulder's angle with positive being rotating down into the robot, and 0 being strait out behind the robot.

units::degree_t	GetShoulderBoomAngle ()

LifterPosition	GetLifterPosition ()
	Gets the lifter's current shoulder position represented as a collection of joint states.

ArmState	ConvertEffectorPose (const frc::Translation2d &pose, WristPosition effectorPosition) const
	Converts from a point in 2d space to an arm state.

ArmState	ConvertLifterPose (const frc::Translation2d &pose) const

frc::Translation2d	ConvertStateToEffectorPose (const ArmState &state, WristPosition effectorPosition) const

frc::Translation2d	ConvertStateToLifterPose (const ArmState &state) const

units::inch_t	ConvertShoulderAngle (units::degree_t angle) const

units::inches_per_second_t	ConvertShoulderVelocity (units::degree_t angle, units::degrees_per_second_t angularVelocity) const

bool	IsShoulderMPComplete ()

bool	IsExtensionMPComplete ()

bool	IsWristMPComplete ()

ctre::phoenix::motion::BufferedTrajectoryPointStream &	GetShoulderMPStream ()

ctre::phoenix::motion::BufferedTrajectoryPointStream &	GetExtensionMPStream ()

ctre::phoenix::motion::BufferedTrajectoryPointStream &	GetWristMPStream ()

void	StopMotionProfile ()

void	StartMotionProfile (size_t shoulderStreamSize, size_t extensionStreamSize, size_t wristStreamSize)

void	ResetPathFaults ()

bool	IsFatalPathFault ()

void	DisableArmExtensionSoftLimits ()
	Turn off soft limits for arm extension.

void	EnableArmExtensionSoftLimits ()
	Turn on soft limits for arm extension.

Private Member Functions
void	EnableWristSoftLimits ()
	Turn on soft limits for wrist.

void	DisableWristSoftLimits ()
	Turn off soft limits for wrist.

void	EnableShoulderSoftLimits ()
	Turn on soft limits for arm shoulder.

void	DisableShoulderSoftLimits ()
	Turn off soft limits for arm shoulder.

Private Attributes
WPI_TalonFX	m_shoulderDrive
	Shoulder motor closest to front of robot.

WPI_TalonFX	m_armExtensionMotor
	Motor that controls extension of arm.

WPI_TalonFX	m_wrist
	Motor that controls wrist movement.

CANCoder	m_shoulderEncoder
	Encoder that measures shoulder position.

CANCoder	m_wristEncoder
	Encoder for measuring wrist position.

CANCoder	m_extensionEncoder
	Encoder for measuring extension of arm.

LifterKinematics	m_kinematics
	Kinematic model for solving arm joints & position.

argos_lib::ArgosLogger	m_logger
	Handles logging errors & info.

argos_lib::FSHomingStorage< units::degree_t >	m_shoulderHomeStorage
	File system homing for shoulder.

argos_lib::FSHomingStorage< units::degree_t >	m_wristHomingStorage
	File system homing for wrist.

argos_lib::FSHomingStorage< units::degree_t >	m_extensionHomingStorage
	File system homing for wrist.

argos_lib::NTMotorPIDTuner	m_extensionTuner
	TEMP network tables PID tuner for tuning extension.

argos_lib::NTMotorPIDTuner	m_wristTuner
	TEMP network tables PID tuner for tuning wrist.

argos_lib::NTMotorPIDTuner	m_shoulderTuner
	TEMP network tables PID tuner for tuning shoulder.

bool	m_shoulderHomed
	True if the shoulder is homed successfully from file system.

bool	m_extensionHomed
	True if extension is homed successfully.

bool	m_wristHomed
	True if wrist was homed successfully from file system.

bool	m_shoulderManualOverride
	True if manual control is currently in use, do not execute any closed loop.

bool	m_extensionManualOverride
	True if manual control is currently in use, do not execute any closed loop.

bool	m_wristManualOverride
	True if manual control is currently in use, do not execute any closed loop.

ctre::phoenix::motion::BufferedTrajectoryPointStream	m_shoulderStream

ctre::phoenix::motion::BufferedTrajectoryPointStream	m_extensionStream

ctre::phoenix::motion::BufferedTrajectoryPointStream	m_wristStream

Constructor & Destructor Documentation

◆ LifterSubsystem()

LifterSubsystem::LifterSubsystem ( argos_lib::RobotInstance instance )

explicit

Member Function Documentation

◆ ArmExtensionHomeFileExists()

bool LifterSubsystem::ArmExtensionHomeFileExists ( )

Checks if home file for arm extension exists.

Returns: True -> File exists, False otherwise

◆ ConvertEffectorPose()

ArmState LifterSubsystem::ConvertEffectorPose	(	const frc::Translation2d &	pose,
		WristPosition	effectorPosition
	)		const

Converts from a point in 2d space to an arm state.

Parameters

pose	Point in robot x/z plane where the end effector should be (y is actually z) in Translation2d
effectorPosition	True -> Effector is inverted False -> Effector is NOT inverted

Returns: ArmState holding joint properties to get to "pose" point in 2d space

◆ ConvertLifterPose()

ArmState LifterSubsystem::ConvertLifterPose ( const frc::Translation2d & pose ) const

◆ ConvertShoulderAngle()

units::inch_t LifterSubsystem::ConvertShoulderAngle ( units::degree_t angle ) const

◆ ConvertShoulderVelocity()

units::inches_per_second_t LifterSubsystem::ConvertShoulderVelocity	(	units::degree_t	angle,
		units::degrees_per_second_t	angularVelocity
	)		const

◆ ConvertStateToEffectorPose()

frc::Translation2d LifterSubsystem::ConvertStateToEffectorPose	(	const ArmState &	state,
		WristPosition	effectorPosition
	)		const

◆ ConvertStateToLifterPose()

frc::Translation2d LifterSubsystem::ConvertStateToLifterPose ( const ArmState & state ) const

◆ Disable()

void LifterSubsystem::Disable ( )

Handle robot disabling.

◆ DisableArmExtensionSoftLimits()

void LifterSubsystem::DisableArmExtensionSoftLimits ( )

Turn off soft limits for arm extension.

◆ DisableShoulderSoftLimits()

void LifterSubsystem::DisableShoulderSoftLimits ( )

private

Turn off soft limits for arm shoulder.

◆ DisableWristSoftLimits()

void LifterSubsystem::DisableWristSoftLimits ( )

private

Turn off soft limits for wrist.

◆ EnableArmExtensionSoftLimits()

void LifterSubsystem::EnableArmExtensionSoftLimits ( )

Turn on soft limits for arm extension.

◆ EnableShoulderSoftLimits()

void LifterSubsystem::EnableShoulderSoftLimits ( )

private

Turn on soft limits for arm shoulder.

◆ EnableWristSoftLimits()

void LifterSubsystem::EnableWristSoftLimits ( )

private

Turn on soft limits for wrist.

◆ GetArmExtension()

units::inch_t LifterSubsystem::GetArmExtension ( )

Gets the arm extension (positive is extend out)

Returns: Extension of arm from shoulder rotation center as an units::inch_t

◆ GetArmPose()

frc::Translation2d LifterSubsystem::GetArmPose ( )

◆ GetEffectorPose()

frc::Translation2d LifterSubsystem::GetEffectorPose ( const WristPosition wristPosition )

Uses the kinematics object to calculate robot pose.

Returns: The arm's current pose in robot space as a Translation2d

◆ GetExtensionMPStream()

ctre::phoenix::motion::BufferedTrajectoryPointStream & LifterSubsystem::GetExtensionMPStream ( )

◆ GetLastWristTimestamp()

double LifterSubsystem::GetLastWristTimestamp ( )

◆ GetLifterPosition()

LifterSubsystem::LifterPosition LifterSubsystem::GetLifterPosition ( )

Gets the lifter's current shoulder position represented as a collection of joint states.

Returns: A LifterPosition containing the state of the shoulder system's joints

◆ GetShoulderAngle()

units::degree_t LifterSubsystem::GetShoulderAngle ( )

Gets the shoulder's angle with positive being rotating down into the robot, and 0 being strait out behind the robot.

Returns: The shoulder's current angle as an units::degree_t

◆ GetShoulderBoomAngle()

units::degree_t LifterSubsystem::GetShoulderBoomAngle ( )

◆ GetShoulderMPStream()

ctre::phoenix::motion::BufferedTrajectoryPointStream & LifterSubsystem::GetShoulderMPStream ( )

◆ GetWristAbsoluteAngle()

units::degree_t LifterSubsystem::GetWristAbsoluteAngle ( )

◆ GetWristAngle()

units::degree_t LifterSubsystem::GetWristAngle ( )

Gets the wrist angle (right handle rule with axis towards front of robot)

Returns: Angle in units::degree_t representing angle of effector

◆ GetWristMPStream()

ctre::phoenix::motion::BufferedTrajectoryPointStream & LifterSubsystem::GetWristMPStream ( )

◆ GetWristPosition()

WristPosition LifterSubsystem::GetWristPosition ( )

◆ InitializeArmExtensionHome()

void LifterSubsystem::InitializeArmExtensionHome ( )

Initializes the arm extension home from file system.

◆ InitializeShoulderHome()

void LifterSubsystem::InitializeShoulderHome ( )

Initializes the homed shoulder value from FS.

◆ InitializeWristHomes()

void LifterSubsystem::InitializeWristHomes ( )

Initializes wrist homes from file system.

◆ IsArmExtensionHomed()

bool LifterSubsystem::IsArmExtensionHomed ( )

Is the arm extension homed?

Returns: True -> Arm extension is homed False -> Arm extension did not home

◆ IsArmExtensionMoving()

bool LifterSubsystem::IsArmExtensionMoving ( )

Detect if arm is in motion.

Returns: True when arm is in motion

◆ IsExtensionAt()

bool LifterSubsystem::IsExtensionAt ( units::inch_t extension )

Checks if the arm extension is within an error of extension.

Parameters

extension The extension of the arm to compare to

Returns: True if within acceptable error, False otherwise

◆ IsExtensionManualOverride()

bool LifterSubsystem::IsExtensionManualOverride ( )

Checks if manual extension override member is true.

Returns: True -> Extension is manually overridden False -> Extension is not overriden

◆ IsExtensionMPComplete()

bool LifterSubsystem::IsExtensionMPComplete ( )

◆ IsFatalPathFault()

bool LifterSubsystem::IsFatalPathFault ( )

◆ IsShoulderAt()

bool LifterSubsystem::IsShoulderAt ( units::degree_t angle )

Checks if the shoulder is within an error of extension.

Parameters

angle The angle of the shoulder to compare to

Returns: True if within acceptable error, False otherwise

◆ IsShoulderManualOverride()

bool LifterSubsystem::IsShoulderManualOverride ( )

Checks if manual shoulder override member is true.

Returns: True -> Shoulder is manually overridden False -> Shoulder is not overridden

◆ IsShoulderMoving()

bool LifterSubsystem::IsShoulderMoving ( )

Detect if shoulder is in motion.

Returns: True when shoulder is in motion

◆ IsShoulderMPComplete()

bool LifterSubsystem::IsShoulderMPComplete ( )

◆ IsWristManualOverride()

bool LifterSubsystem::IsWristManualOverride ( )

Checks if manual wrist override member is true.

Returns: True -> Wrist is manually overridden False -> Wrist is not overriden

◆ IsWristMPComplete()

bool LifterSubsystem::IsWristMPComplete ( )

◆ Periodic()

void LifterSubsystem::Periodic ( )

override

Will be called periodically whenever the CommandScheduler runs.

◆ ResetPathFaults()

void LifterSubsystem::ResetPathFaults ( )

◆ SetArmExtension()

void LifterSubsystem::SetArmExtension ( units::inch_t extension )

Sets the extension of the arm to "extension" inches.

Parameters

extension The inches to extend, from fulcrum to back face of wrist gear

◆ SetArmExtensionSpeed()

void LifterSubsystem::SetArmExtensionSpeed ( double speed )

Sets the arm extension motor speed.

Parameters

speed double, on the interval [-1, 1]

◆ SetEffectorPose()

LifterSubsystem::LifterPosition LifterSubsystem::SetEffectorPose	(	const frc::Translation2d &	desPose,
		WristPosition	effectorPosition
	)

Uses the kinematics object to calculate joint positions for a given pose, then sets the system to that pose.

Parameters

desPose	The point in robot space to go to (y is actually z)
effectorPosition	Wether or not the effector is inverted

Returns: A LifterPosition representing the state of the different joints

◆ SetExtensionManualOverride()

void LifterSubsystem::SetExtensionManualOverride ( bool overrideState )

Sets the override state of the extension.

◆ SetLifterPose()

LifterSubsystem::LifterPosition LifterSubsystem::SetLifterPose ( const frc::Translation2d & desPose )

◆ SetShoulderAngle()

void LifterSubsystem::SetShoulderAngle ( units::degree_t angle )

Sets the shoulder joint's angle (see GetShoulderAngle or docs for convention)

Parameters

angle The target angle the shoulder should go to, in an units::degree_t

◆ SetShoulderManualOverride()

void LifterSubsystem::SetShoulderManualOverride ( bool overrideState )

Sets the override state of the shoulder.

◆ SetShoulderSpeed()

void LifterSubsystem::SetShoulderSpeed ( double speed )

Sets the arm speed.

Parameters

speed double, on the interval [-1, 1]

◆ SetWristAngle()

void LifterSubsystem::SetWristAngle ( units::degree_t wristAngle )

Sets the wrist angle from min and max angles defined in measure_up. Positive is CW looking down the arm from the fulcrum.

Parameters

wristAngle

◆ SetWristManualOverride()

void LifterSubsystem::SetWristManualOverride ( bool overrideState )

Sets the override state of the wrist.

◆ SetWristSpeed()

void LifterSubsystem::SetWristSpeed ( double speed )

Sets the wrist speed.

Parameters

speed double, on the interval [-1, 1]

◆ StartMotionProfile()

void LifterSubsystem::StartMotionProfile	(	size_t	shoulderStreamSize,
		size_t	extensionStreamSize,
		size_t	wristStreamSize
	)

◆ StopArmExtension()

void LifterSubsystem::StopArmExtension ( )

Sets the arm extension motor to zero.

◆ StopMotionProfile()

void LifterSubsystem::StopMotionProfile ( )

◆ StopShoulder()

void LifterSubsystem::StopShoulder ( )

Sets the shoulder motor to zero.

◆ StopWrist()

void LifterSubsystem::StopWrist ( )

Sets the wrist speed to zero.

◆ UpdateArmExtensionHome()

void LifterSubsystem::UpdateArmExtensionHome ( )

Update arm home position.

◆ UpdateShoulderHome()

void LifterSubsystem::UpdateShoulderHome ( )

Updates shoulder home in FS, resets relative position on sensor.

◆ UpdateWristHome()

void LifterSubsystem::UpdateWristHome ( )

updating wrist homes for encoder

Member Data Documentation

◆ m_armExtensionMotor

WPI_TalonFX LifterSubsystem::m_armExtensionMotor

private

Motor that controls extension of arm.

◆ m_extensionEncoder

CANCoder LifterSubsystem::m_extensionEncoder

private

Encoder for measuring extension of arm.

◆ m_extensionHomed

bool LifterSubsystem::m_extensionHomed

private

True if extension is homed successfully.

◆ m_extensionHomingStorage

argos_lib::FSHomingStorage<units::degree_t> LifterSubsystem::m_extensionHomingStorage

private

File system homing for wrist.

◆ m_extensionManualOverride

bool LifterSubsystem::m_extensionManualOverride

private

True if manual control is currently in use, do not execute any closed loop.

◆ m_extensionStream

ctre::phoenix::motion::BufferedTrajectoryPointStream LifterSubsystem::m_extensionStream

private

◆ m_extensionTuner

argos_lib::NTMotorPIDTuner LifterSubsystem::m_extensionTuner

private

TEMP network tables PID tuner for tuning extension.

◆ m_kinematics

LifterKinematics LifterSubsystem::m_kinematics

private

Kinematic model for solving arm joints & position.

◆ m_logger

argos_lib::ArgosLogger LifterSubsystem::m_logger

private

Handles logging errors & info.

◆ m_shoulderDrive

WPI_TalonFX LifterSubsystem::m_shoulderDrive

private

Shoulder motor closest to front of robot.

◆ m_shoulderEncoder

CANCoder LifterSubsystem::m_shoulderEncoder

private

Encoder that measures shoulder position.

◆ m_shoulderHomed

bool LifterSubsystem::m_shoulderHomed

private

True if the shoulder is homed successfully from file system.

◆ m_shoulderHomeStorage

argos_lib::FSHomingStorage<units::degree_t> LifterSubsystem::m_shoulderHomeStorage

private

File system homing for shoulder.

◆ m_shoulderManualOverride

bool LifterSubsystem::m_shoulderManualOverride

private

True if manual control is currently in use, do not execute any closed loop.

◆ m_shoulderStream

ctre::phoenix::motion::BufferedTrajectoryPointStream LifterSubsystem::m_shoulderStream

private

◆ m_shoulderTuner

argos_lib::NTMotorPIDTuner LifterSubsystem::m_shoulderTuner

private

TEMP network tables PID tuner for tuning shoulder.

◆ m_wrist

WPI_TalonFX LifterSubsystem::m_wrist

private

Motor that controls wrist movement.

◆ m_wristEncoder

CANCoder LifterSubsystem::m_wristEncoder

private

Encoder for measuring wrist position.

◆ m_wristHomed

bool LifterSubsystem::m_wristHomed

private

True if wrist was homed successfully from file system.

◆ m_wristHomingStorage

argos_lib::FSHomingStorage<units::degree_t> LifterSubsystem::m_wristHomingStorage

private

File system homing for wrist.

◆ m_wristManualOverride

bool LifterSubsystem::m_wristManualOverride

private

True if manual control is currently in use, do not execute any closed loop.

◆ m_wristStream

ctre::phoenix::motion::BufferedTrajectoryPointStream LifterSubsystem::m_wristStream

private

◆ m_wristTuner

argos_lib::NTMotorPIDTuner LifterSubsystem::m_wristTuner

private

TEMP network tables PID tuner for tuning wrist.

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

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ LifterSubsystem()

Member Function Documentation

◆ ArmExtensionHomeFileExists()

◆ ConvertEffectorPose()

◆ ConvertLifterPose()

◆ ConvertShoulderAngle()

◆ ConvertShoulderVelocity()

◆ ConvertStateToEffectorPose()

◆ ConvertStateToLifterPose()

◆ Disable()

◆ DisableArmExtensionSoftLimits()

◆ DisableShoulderSoftLimits()

◆ DisableWristSoftLimits()

◆ EnableArmExtensionSoftLimits()

◆ EnableShoulderSoftLimits()

◆ EnableWristSoftLimits()

◆ GetArmExtension()

◆ GetArmPose()

◆ GetEffectorPose()

◆ GetExtensionMPStream()

◆ GetLastWristTimestamp()

◆ GetLifterPosition()

◆ GetShoulderAngle()

◆ GetShoulderBoomAngle()

◆ GetShoulderMPStream()

◆ GetWristAbsoluteAngle()

◆ GetWristAngle()

◆ GetWristMPStream()

◆ GetWristPosition()

◆ InitializeArmExtensionHome()

◆ InitializeShoulderHome()

◆ InitializeWristHomes()

◆ IsArmExtensionHomed()

◆ IsArmExtensionMoving()

◆ IsExtensionAt()

◆ IsExtensionManualOverride()

◆ IsExtensionMPComplete()

◆ IsFatalPathFault()

◆ IsShoulderAt()

◆ IsShoulderManualOverride()

◆ IsShoulderMoving()

◆ IsShoulderMPComplete()

◆ IsWristManualOverride()

◆ IsWristMPComplete()

◆ Periodic()

◆ ResetPathFaults()

◆ SetArmExtension()

◆ SetArmExtensionSpeed()

◆ SetEffectorPose()

◆ SetExtensionManualOverride()

◆ SetLifterPose()

◆ SetShoulderAngle()

◆ SetShoulderManualOverride()

◆ SetShoulderSpeed()

◆ SetWristAngle()

◆ SetWristManualOverride()

◆ SetWristSpeed()

◆ StartMotionProfile()

◆ StopArmExtension()

◆ StopMotionProfile()

◆ StopShoulder()

◆ StopWrist()

◆ UpdateArmExtensionHome()

◆ UpdateShoulderHome()

◆ UpdateWristHome()

Member Data Documentation

◆ m_armExtensionMotor

◆ m_extensionEncoder

◆ m_extensionHomed

◆ m_extensionHomingStorage

◆ m_extensionManualOverride

◆ m_extensionStream

◆ m_extensionTuner

◆ m_kinematics

◆ m_logger