Package com.flarerobotics.lib.ascope.rotational

Class PivotAscopeDisplay

java.lang.Object
com.flarerobotics.lib.ascope.rotational.PivotAscopeDisplay
public class PivotAscopeDisplay extends Object
Simulates an arm / pivot and calculates joint positions, publishing them to Network Tables (via Akit Logger) for visualization in AdvantageScope.

Note: Use PivotAscopeDisplay(String, Supplier, double, Supplier) with length = 0 for a pivot display.

  • Constructor Summary

    Constructors
    Constructor
    Description
    PivotAscopeDisplay(String name, Supplier<edu.wpi.first.math.geometry.Pose3d> basePose, double[] segmentLengthsMeters, Supplier<edu.wpi.first.math.geometry.Rotation3d[]> jointAnglesRads, Supplier<Double[]> extensionSupplier)
    Constructs a new PivotAscopeDisplay.
    PivotAscopeDisplay(String name, Supplier<edu.wpi.first.math.geometry.Pose3d> basePose, double length, Supplier<edu.wpi.first.math.geometry.Rotation3d> angleSupplier)
    Constructs a new single-jointed PivotAscopeDisplay.
    PivotAscopeDisplay(String name, Supplier<edu.wpi.first.math.geometry.Pose3d> basePose, double length, Supplier<edu.wpi.first.math.geometry.Rotation3d> angleSupplier, Supplier<Double> extensionSupplier)
    Constructs a single-jointed new PivotAscopeDisplay.

  • Method Summary

    Modifier and Type
    Method
    Description
    Supplier<edu.wpi.first.math.geometry.Pose3d>
    attachMechanism(Supplier<edu.wpi.first.math.geometry.Transform3d> offset)
    Attaches a mechanism to end of the arm.
    edu.wpi.first.math.geometry.Pose3d
    computeEndEffectorPose()
    Computes the final pose of the arm's end effector using forward kinematics.
    edu.wpi.first.math.geometry.Pose3d
    computeEndEffectorPose(edu.wpi.first.math.geometry.Transform3d offset)
    Computes the final pose of the arm's end effector using forward kinematics.
    edu.wpi.first.math.geometry.Pose3d
    getJointPose(int joint)
    Returns the pose of the specified joint (1-indexed).
    edu.wpi.first.math.geometry.Pose3d
    getJointPose(int joint, edu.wpi.first.math.geometry.Transform3d offset)
    Returns the pose of the specified joint (1-indexed).
    void
    update()
    Updates the Network Table outputs.
    void
    update(edu.wpi.first.math.geometry.Transform3d offset)
    Updates the Network Table outputs.
    void
    update(edu.wpi.first.math.geometry.Transform3d[] offsets)
    Updates the Network Table outputs.

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • PivotAscopeDisplay

      public PivotAscopeDisplay(String name, Supplier<edu.wpi.first.math.geometry.Pose3d> basePose, double[] segmentLengthsMeters, Supplier<edu.wpi.first.math.geometry.Rotation3d[]> jointAnglesRads, Supplier<Double[]> extensionSupplier)
      Constructs a new PivotAscopeDisplay.
      Parameters:
      name - The name of the system.
      basePose - The pose supplier for the root of the arm.
      segmentLengthsMeters - The length of each joint. Must have the same length as the joint angles and the extension supplier, and the joint count.
      jointAnglesRads - The supplier for the joint angles, in radians.
      extensionSupplier - The extensions supplier in meters, used for telescoping / extending arms.
      Throws:
      IllegalArgumentException - If the array lengths don't match.

    • PivotAscopeDisplay

      public PivotAscopeDisplay(String name, Supplier<edu.wpi.first.math.geometry.Pose3d> basePose, double length, Supplier<edu.wpi.first.math.geometry.Rotation3d> angleSupplier, Supplier<Double> extensionSupplier)
      Constructs a single-jointed new PivotAscopeDisplay.
      Parameters:
      name - The name of the system.
      basePose - The pose supplier for the root of the arm.
      length - The length of the arm in meters.
      angleSupplier - The supplier for the arm angle, in radians.
      extensionSupplier - The extensions supplier in meters, used for telescoping / extending arms.
      Throws:
      IllegalArgumentException - If the array lengths don't match.

    • PivotAscopeDisplay

      public PivotAscopeDisplay(String name, Supplier<edu.wpi.first.math.geometry.Pose3d> basePose, double length, Supplier<edu.wpi.first.math.geometry.Rotation3d> angleSupplier)
      Constructs a new single-jointed PivotAscopeDisplay.

      Note: Use length = 0 for pivot.

      Parameters:
      name - The name of the system.
      basePose - The pose supplier for the root of the arm.
      length - The length of the arm in meters.
      angleSupplier - The supplier for the arm angle, in radians.

  • Method Details

    • computeEndEffectorPose

      public edu.wpi.first.math.geometry.Pose3d computeEndEffectorPose()
      Computes the final pose of the arm's end effector using forward kinematics.
      Returns:
      The pose of the end effector.

    • computeEndEffectorPose

      public edu.wpi.first.math.geometry.Pose3d computeEndEffectorPose(edu.wpi.first.math.geometry.Transform3d offset)
      Computes the final pose of the arm's end effector using forward kinematics.
      Parameters:
      offset - The offset applied to the final position.
      Returns:
      The pose of the end effector.

    • getJointPose

      public edu.wpi.first.math.geometry.Pose3d getJointPose(int joint, edu.wpi.first.math.geometry.Transform3d offset)
      Returns the pose of the specified joint (1-indexed). Joint 1 is the first joint (i.e. the transformation after the base, including the first segment's rotation and translation).
      Parameters:
      joint - The joint number. (1-indexed)
      offset - The offset applied to the final position.
      Returns:
      The pose of that joint, computed using forward kinematics.
      Throws:
      IllegalArgumentException - if the joint number is invalid.

    • getJointPose

      public edu.wpi.first.math.geometry.Pose3d getJointPose(int joint)
      Returns the pose of the specified joint (1-indexed). Joint 1 is the first joint (i.e. the transformation after the base, including the first segment's rotation and translation).
      Parameters:
      joint - The joint number. (1-indexed)
      Returns:
      The pose of that joint, computed using forward kinematics.
      Throws:
      IllegalArgumentException - if the joint number is invalid.

    • update

      public void update(edu.wpi.first.math.geometry.Transform3d offset)
      Updates the Network Table outputs. Data is stored in the path as a Pose3d:

      Simulation/{SYSTEM_NAME}Arm/Joint{I}/Pose

      Parameters:
      offset - The offset to apply to each joint.

    • update

      public void update(edu.wpi.first.math.geometry.Transform3d[] offsets)
      Updates the Network Table outputs. Data is stored in the path as a Pose3d:

      Simulation/{SYSTEM_NAME}Arm/Joint{I}/Pose

      Parameters:
      offsets - The offsets to apply to each joint.

    • update

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

      Simulation/{SYSTEM_NAME}Arm/Joint{I}/Pose

    • attachMechanism

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