Package com.flarerobotics.lib.ascope.linear

Class CascadeAscopeDisplay

java.lang.Object
com.flarerobotics.lib.ascope.linear.CascadeAscopeDisplay
public class CascadeAscopeDisplay extends Object
Simulates a cascade elevator and calculates stage positions, publishing them to Network Tables (via Akit Logger) for visualization in AdvantageScope.

Model: If N stages are present (N >= 1) and the elevator's "raw" height is h, then the i'th stage gets a fraction of h: ((N - i + 1) / N) * h.

  • Constructor Details

    • CascadeAscopeDisplay

      public CascadeAscopeDisplay(String name, int stages, double offsetMeters, Supplier<Double> heightSupplierMeters, Supplier<edu.wpi.first.math.geometry.Rotation3d> angleRadians, double elevatorMaxHeightMeters)
      Constructs a new CascadeAscopeDisplay.
      Parameters:
      name - The name of the system.
      stages - The number of stages in the elevator (>= 1).
      offsetMeters - A baseline offset (in meters). Often used if the zero point of the height sensor isn't actually the bottom of the elevator.
      heightSupplierMeters - The supplier returning the elevator's current raw height (in meters).
      angleRadians - The tilt of the elevator as a Rotation3d (use Rotation3d.kZero for upright).
      elevatorMaxHeightMeters - The physical max height (in meters) of the elevator.

    • CascadeAscopeDisplay

      public CascadeAscopeDisplay(String name, int stages, double offsetMeters, Supplier<Double> heightSupplierMeters, double elevatorMaxHeightMeters)
      Constructs a new CascadeAscopeDisplay with an upright elevator (no tilt).
      Parameters:
      name - The name of the system.
      stages - The number of stages in the elevator (>= 1).
      offsetMeters - A baseline offset (in meters). Often used if the zero point of the height sensor isn't actually the bottom of the elevator.
      heightSupplierMeters - The supplier returning the elevator's current raw height (in meters).
      elevatorMaxHeightMeters - The physical max height (in meters) of the elevator.

  • Method Details

    • update

      public void update()
      Updates the Network Table outputs. Data is stored in the path as a Pose3d:

      Simulation/{SYSTEM_NAME}Elevator/Stage{I}/Pose

    • getStagePose

      public edu.wpi.first.math.geometry.Pose3d getStagePose(int stage)
      Returns the pose of the specified stage.
      Parameters:
      stage - The stage number (1 = carriage).
      Returns:
      The AdvantageScope zero-position relative pose.

    • attachMechanism

      public Supplier<edu.wpi.first.math.geometry.Pose3d> attachMechanism(Supplier<edu.wpi.first.math.geometry.Transform3d> offset)
      Attaches a mechanism to the carriage.
      Parameters:
      offset - The offset from the carriage, uses a supplier because attached mechanisms generally move or rotate. Generally used to supply rotational offsets.
      Returns:
      The offset pose supplier from the carriage.