frc.team670.robot.subsystems

Class Arm.ArmState

java.lang.Object

frc.team670.robot.subsystems.Arm.ArmState

All Implemented Interfaces:

Node, java.lang.Comparable<Node>

Direct Known Subclasses:

Arm.PlaceGrabState, Arm.ReadyLowHatchBack, Arm.ReadyLowHatchForward, Arm.ReadyPlaceBallRocketLowBack, Arm.ReadyPlaceBallRocketLowForward, Arm.ReadyPlaceBallRocketMiddleBack, Arm.ReadyPlaceHatchRocketMiddleForward

Enclosing class:

Arm

public class Arm.ArmState
extends java.lang.Object
implements Node

Represents a potential state for the arm including a wrist angle, elbow angle, and extension.

Method Summary

Modifier and Type	Method and Description
int	compareTo(Node o)
java.awt.geom.Point2D.Double	getCoordPosition()
ArmTransition[]	getEdges()
double	getElbowAngle() Gets the absolute Elbow angle in degrees.
double	getExtensionLength() Gets the absolute Extension length in inches.
int	getHeuristicDistance(Node other)
double	getMaximumLowestPointOnClaw() Returns the lowest point on the claw/arm which should be the place the intake is most likely to hit
double	getWristAngle() Gets the absolute Wrist angle in degrees.
void	initTransitions()
boolean	isIntakeDeployed() True if the intake should be deployed at this ArmState

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Detail

getCoordPosition

public java.awt.geom.Point2D.Double getCoordPosition()

getMaximumLowestPointOnClaw

public double getMaximumLowestPointOnClaw()

Returns the lowest point on the claw/arm which should be the place the intake is most likely to hit

isIntakeDeployed

public boolean isIntakeDeployed()

True if the intake should be deployed at this ArmState

getExtensionLength

public double getExtensionLength()

Gets the absolute Extension length in inches.

getElbowAngle

public double getElbowAngle()

Gets the absolute Elbow angle in degrees.

getWristAngle

public double getWristAngle()

Gets the absolute Wrist angle in degrees.

initTransitions

public void initTransitions()

getEdges

public ArmTransition[] getEdges()

Specified by:

getEdges in interface Node

Returns:

a list of the edges that hit this node

getHeuristicDistance

public int getHeuristicDistance(Node other)

Specified by:

getHeuristicDistance in interface Node

Returns:

estimated distance to target node

compareTo

public int compareTo(Node o)

Specified by:

compareTo in interface java.lang.Comparable<Node>