Package frc.robot.logging

Class MechLogging

java.lang.Object
frc.robot.logging.MechLogging
public final class MechLogging extends Object

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final double
    STAGE_2_RATIO
     
    static final double
    STAGE_3_RATIO
     

  • Method Summary

    Modifier and Type
    Method
    Description
    edu.wpi.first.math.geometry.Pose3d
    getClimberPose()
    Get the pose of the climber ligament.
    edu.wpi.first.math.geometry.Pose3d
    getElevatorStage1()
    Get the primary elevator pose.
    edu.wpi.first.math.geometry.Pose3d
    getElevatorStage2()
    Get the secondary elevator pose.
    edu.wpi.first.math.geometry.Pose3d
    getElevatorStage3()
    Get the elevator stage 3 position.
    static MechLogging
    getInstance()
    Get the instance of the singleton class.
    edu.wpi.first.math.geometry.Pose3d
    getIntakePose()
    Get the pose of the intake.
    edu.wpi.first.math.geometry.Pose3d
    getOuttakePose()
    Get the pose of the outtake.
    edu.wpi.first.math.geometry.Pose3d[]
    getRobotPoses()
    Getter for the array of poses we want to simulate.
    void
    updateDrivetrainValues(edu.wpi.first.math.geometry.Pose2d pose, edu.wpi.first.math.kinematics.ChassisSpeeds speeds, edu.wpi.first.math.geometry.Rotation2d rotation)
    Updates the drivetrain values.
    void
    updateElevatorPose3d(edu.wpi.first.units.measure.Angle encoderSimPosition)
    Generates the pose for the elevator based on encoder position.
    void
    updatesClimberPose3d(edu.wpi.first.units.measure.Angle encoderSimPosition)
    Updates the pose for the climber based on encoder position.

    Methods inherited from class java.lang.Object

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

  • Field Details

  • Method Details

    • getInstance

      public static MechLogging getInstance()
      Get the instance of the singleton class.
      Returns:
      the instance

    • updateElevatorPose3d

      public void updateElevatorPose3d(edu.wpi.first.units.measure.Angle encoderSimPosition)
      Generates the pose for the elevator based on encoder position.
      Parameters:
      encoderSimPosition - the simulated location of the elevator motor encoder.

    • updatesClimberPose3d

      public void updatesClimberPose3d(edu.wpi.first.units.measure.Angle encoderSimPosition)
      Updates the pose for the climber based on encoder position.
      Parameters:
      encoderSimPosition - the simulated location of the climber motor encoder.

    • getElevatorStage1

      public edu.wpi.first.math.geometry.Pose3d getElevatorStage1()
      Get the primary elevator pose.
      Returns:
      the pose of the inner part of the elevator

    • getElevatorStage2

      public edu.wpi.first.math.geometry.Pose3d getElevatorStage2()
      Get the secondary elevator pose.
      Returns:
      the pose of the inner-most part of the elevator

    • getElevatorStage3

      public edu.wpi.first.math.geometry.Pose3d getElevatorStage3()
      Get the elevator stage 3 position.
      Returns:
      the elevator stage 3 position

    • getClimberPose

      public edu.wpi.first.math.geometry.Pose3d getClimberPose()
      Get the pose of the climber ligament.
      Returns:
      pose of the rotating climber ligament.

    • getIntakePose

      public edu.wpi.first.math.geometry.Pose3d getIntakePose()
      Get the pose of the intake.
      Returns:
      the pose of the intake

    • getOuttakePose

      public edu.wpi.first.math.geometry.Pose3d getOuttakePose()
      Get the pose of the outtake.
      Returns:
      the pose of the outtake

    • getRobotPoses

      public edu.wpi.first.math.geometry.Pose3d[] getRobotPoses()
      Getter for the array of poses we want to simulate.
      Returns:
      the array of poses to display in advantageScope

    • updateDrivetrainValues

      public void updateDrivetrainValues(edu.wpi.first.math.geometry.Pose2d pose, edu.wpi.first.math.kinematics.ChassisSpeeds speeds, edu.wpi.first.math.geometry.Rotation2d rotation)
      Updates the drivetrain values.
      Parameters:
      pose - the pose of the drivetrain
      speeds - the chassis speeds of the drivetrain
      rotation - the rotation of the drivetrain