frc.team670.robot.subsystems

Class Arm

java.lang.Object

frc.team670.robot.subsystems.Arm

public class Arm
extends java.lang.Object

Stores possible arm states. Does arm-related math Represents the arm mechanism on the robot. Link to a model of the arm: https://a360.co/2TLH2NO

Author:

shaylandias, ctchen, rghosh670

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	Arm.ArmState Represents a potential state for the arm including a wrist angle, elbow angle, and extension.
class	Arm.GrabBallLoadingStationBack
class	Arm.GrabBallLoadingStationForward
static class	Arm.HeldItem
static class	Arm.LegalState Represents the different possible states of the Arm READY = the state where the Arm is close to being able to place
class	Arm.LowHatchBack
class	Arm.LowHatchForward
class	Arm.PlaceBallCargoBack
class	Arm.PlaceBallCargoForward
class	Arm.PlaceGrabState
class	Arm.ReadyLowHatchBack
class	Arm.ReadyLowHatchForward
class	Arm.ReadyPlaceBallRocketLowBack
class	Arm.ReadyPlaceBallRocketLowForward
class	Arm.ReadyPlaceBallRocketMiddleBack
class	Arm.ReadyPlaceHatchRocketMiddleBack
class	Arm.ReadyPlaceHatchRocketMiddleForward

Field Summary

Fields

Modifier and Type	Field and Description
static double	ARM_HEIGHT_IN_INCHES
static double	unitTestElbowAngle Value meant only for unit testing.
static double	unitTestExtensionDist Value meant only for unit testing.
static double	unitTestWristAngle Value meant only for unit testing.

Constructor Summary

Constructors

Constructor and Description
Arm(BaseElbow elbow, BaseWrist wrist, BaseExtension extension, BaseIntake intake, Claw claw)

Method Summary

Modifier and Type	Method and Description
static Arm.ArmState	getArmState(Arm.LegalState state) Gets the ArmState object that corresponds to the LegalState Ex.
Claw	getClaw()
static java.awt.geom.Point2D.Double	getCoordPosition(double elbowAngle, double wristAngle, double extensionLength) Returns the arm's point in forward facing plane relative to (0,0) at the base of the arm.
static double	getCurrentLowestPointOnArm(double elbowAngle, double wristAngle, double extensionLength) Returns the arm's point in forward facing plane relative to (0,0) at the base of the arm.
static Arm.ArmState	getCurrentState() Gets the State that the arm most recently was located at.
BaseElbow	getElbow()
BaseExtension	getExtension()
Arm.HeldItem	getHeldItem()
static java.util.HashMap<Arm.LegalState,Arm.ArmState>	getStates()
static java.util.ArrayList<Arm.ArmState>	getStatesArrayList()
static Arm.ArmState	getTargetState()
BaseWrist	getWrist()
void	setBrakeMode()
void	setCoastMode()
void	setHeldItem(Arm.HeldItem item)
static void	setState(Arm.ArmState state) Sets the current state of the arm.
static void	setTargetState(Arm.ArmState state)

Methods inherited from class java.lang.Object

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

Field Detail

ARM_HEIGHT_IN_INCHES

public static final double ARM_HEIGHT_IN_INCHES

See Also:

Constant Field Values

unitTestExtensionDist

public static double unitTestExtensionDist

Value meant only for unit testing. Do not use this anywhere else!

unitTestElbowAngle

public static double unitTestElbowAngle

Value meant only for unit testing. Do not use this anywhere else!

unitTestWristAngle

public static double unitTestWristAngle

Value meant only for unit testing. Do not use this anywhere else!

Constructor Detail

Arm

public Arm(BaseElbow elbow,
           BaseWrist wrist,
           BaseExtension extension,
           BaseIntake intake,
           Claw claw)

Method Detail

getElbow

public BaseElbow getElbow()

getWrist

public BaseWrist getWrist()

getExtension

public BaseExtension getExtension()

getStates

public static java.util.HashMap<Arm.LegalState,Arm.ArmState> getStates()

getStatesArrayList

public static java.util.ArrayList<Arm.ArmState> getStatesArrayList()

setState

public static void setState(Arm.ArmState state)

Sets the current state of the arm.

getCurrentState

public static Arm.ArmState getCurrentState()

Gets the State that the arm most recently was located at.

getArmState

public static Arm.ArmState getArmState(Arm.LegalState state)

Gets the ArmState object that corresponds to the LegalState Ex. If you want the Neutral ArmState, use 'getArmState(LegalState.NEUTRAL)''

getCoordPosition

public static java.awt.geom.Point2D.Double getCoordPosition(double elbowAngle,
                                                            double wristAngle,
                                                            double extensionLength)

Returns the arm's point in forward facing plane relative to (0,0) at the base of the arm.

getCurrentLowestPointOnArm

public static double getCurrentLowestPointOnArm(double elbowAngle,
                                                double wristAngle,
                                                double extensionLength)

Returns the arm's point in forward facing plane relative to (0,0) at the base of the arm.

setHeldItem

public void setHeldItem(Arm.HeldItem item)

getHeldItem

public Arm.HeldItem getHeldItem()

getTargetState

public static Arm.ArmState getTargetState()

setTargetState

public static void setTargetState(Arm.ArmState state)

setCoastMode

public void setCoastMode()

setBrakeMode

public void setBrakeMode()

getClaw

public Claw getClaw()