Package org.littletonrobotics.junction.mechanism

Class LoggedMechanismLigament2d

java.lang.Object

org.littletonrobotics.junction.mechanism.LoggedMechanismObject2d

org.littletonrobotics.junction.mechanism.LoggedMechanismLigament2d

All Implemented Interfaces:

AutoCloseable

public class LoggedMechanismLigament2d
extends LoggedMechanismObject2d

Ligament node on a Mechanism2d. A ligament can have its length changed (like an elevator) or angle changed, like an arm.

See Also:

• LoggedMechanism2d

Constructor Summary

Constructors

Constructor	Description
LoggedMechanismLigament2d(String name, double length, double angle)	Create a new ligament with the default color (orange) and thickness (6).
LoggedMechanismLigament2d(String name, double length, double angle, double lineWidth, Color8Bit color)	Create a new ligament.
LoggedMechanismLigament2d(String name, Distance length, Angle angle)	Create a new ligament with the default color (orange) and thickness (6).
LoggedMechanismLigament2d(String name, Distance length, Angle angle, double lineWidth, Color8Bit color)	Create a new ligament.

Method Summary

Modifier and Type	Method	Description
void	close()
double	getAngle()	Get the ligament's angle relative to its parent.
Color8Bit	getColor()	Get the ligament color.
double	getLength()	Get the ligament length.
double	getLineWeight()	Get the line thickness.
double	getObject2dRange()	Abstract helper function.
void	setAngle(double degrees)	Set the ligament's angle relative to its parent.
void	setAngle(Rotation2d angle)	Set the ligament's angle relative to its parent.
void	setAngle(Angle angle)	Set the ligament's angle relative to its parent.
void	setColor(Color8Bit color)	Set the ligament color.
void	setLength(double length)	Set the ligament's length.
void	setLength(Distance length)	Set the ligament's length.
void	setLineWeight(double weight)	Set the line thickness.
protected void	updateEntries(NetworkTable table)	Update all entries with new ones from a new table.

Methods inherited from class org.littletonrobotics.junction.mechanism.LoggedMechanismObject2d

append, generate3dMechanism, getName

Methods inherited from class java.lang.Object

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

Constructor Details

LoggedMechanismLigament2d

public LoggedMechanismLigament2d(String name,
 double length,
 double angle,
 double lineWidth,
 Color8Bit color)

Create a new ligament.

Parameters:

name - The ligament name.

length - The ligament length in meters.

angle - The ligament angle in degrees.

lineWidth - The ligament's line width.

color - The ligament's color.

LoggedMechanismLigament2d

public LoggedMechanismLigament2d(String name,
 Distance length,
 Angle angle,
 double lineWidth,
 Color8Bit color)

Create a new ligament.

Parameters:

name - The ligament name.

length - The ligament length.

angle - The ligament angle.

lineWidth - The ligament's line width.

color - The ligament's color.

LoggedMechanismLigament2d

public LoggedMechanismLigament2d(String name,
 double length,
 double angle)

Create a new ligament with the default color (orange) and thickness (6).

Parameters:

name - The ligament's name.

length - The ligament's length in meters.

angle - The ligament's angle relative to its parent in degrees.

LoggedMechanismLigament2d

public LoggedMechanismLigament2d(String name,
 Distance length,
 Angle angle)

Create a new ligament with the default color (orange) and thickness (6).

Parameters:

name - The ligament's name.

length - The ligament's length.

angle - The ligament's angle relative to its parent.

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

Overrides:

close in class LoggedMechanismObject2d

setAngle

public void setAngle(double degrees)

Set the ligament's angle relative to its parent.

Parameters:

degrees - the angle in degrees

setAngle

public void setAngle(Rotation2d angle)

Set the ligament's angle relative to its parent.

Parameters:

angle - the angle

setAngle

public void setAngle(Angle angle)

Set the ligament's angle relative to its parent.

Parameters:

angle - the angle

getAngle

public double getAngle()

Get the ligament's angle relative to its parent.

Specified by:

getAngle in class LoggedMechanismObject2d

Returns:

the angle in degrees

setLength

public void setLength(double length)

Set the ligament's length.

Parameters:

length - the line length

setLength

public void setLength(Distance length)

Set the ligament's length.

Parameters:

length - the line length

getLength

public double getLength()

Get the ligament length.

Returns:

the line length

setColor

public void setColor(Color8Bit color)

Set the ligament color.

Parameters:

color - the color of the line

getColor

public Color8Bit getColor()

Get the ligament color.

Returns:

the color of the line

setLineWeight

public void setLineWeight(double weight)

Set the line thickness.

Parameters:

weight - the line thickness

getLineWeight

public double getLineWeight()

Get the line thickness.

Returns:

the line thickness

updateEntries

protected void updateEntries(NetworkTable table)

Description copied from class: LoggedMechanismObject2d

Update all entries with new ones from a new table.

Specified by:

updateEntries in class LoggedMechanismObject2d

Parameters:

table - the new table.

getObject2dRange

public double getObject2dRange()

Description copied from class: LoggedMechanismObject2d

Abstract helper function. A proxy for getLength() with Ligament2d, but would be something else like getRadius() for circular parts if they were to be implemented.

Specified by:

getObject2dRange in class LoggedMechanismObject2d

Returns:

distance in meters