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Merged
thenetworkgrinch merged 2 commits into from
Dec 31, 2025
Merged

Allow for independently created config classes for constants files. #59

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02f97ec
Allow for independently created config classes for constants files.
thenetworkgrinch Dec 31, 2025
2947a79
Added clone functions.
thenetworkgrinch Dec 31, 2025
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136 changes: 111 additions & 25 deletions yams/java/yams/mechanisms/config/ArmConfig.java
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Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
package yams.mechanisms.config;

import edu.wpi.first.math.Pair;
import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Distance;
Expand All @@ -23,47 +24,63 @@ public class ArmConfig
/**
* {@link SmartMotorController} for the {@link yams.mechanisms.positional.Arm}
*/
private final SmartMotorController motor;
private Optional<SmartMotorController> motor;
/**
* The network root of the mechanism (Optional).
*/
protected Optional<String> networkTableName = Optional.empty();
protected Optional<String> networkTableName = Optional.empty();
/**
* Telemetry name.
*/
private Optional<String> telemetryName = Optional.empty();
private Optional<String> telemetryName = Optional.empty();
/**
* Telemetry verbosity
*/
private Optional<TelemetryVerbosity> telemetryVerbosity = Optional.empty();
private Optional<TelemetryVerbosity> telemetryVerbosity = Optional.empty();
/**
* Lower Hard Limit for the {@link yams.mechanisms.positional.Arm} to be representing in simulation.
*/
private Optional<Angle> lowerHardLimit = Optional.empty();
private Optional<Angle> lowerHardLimit = Optional.empty();
/**
* Upper hard limit for the {@link yams.mechanisms.positional.Arm} representing in simulation.
*/
private Optional<Angle> upperHardLimit = Optional.empty();
private Optional<Angle> upperHardLimit = Optional.empty();
/**
* {@link yams.mechanisms.positional.Arm} length for simulation.
*/
private Optional<Distance> length = Optional.empty();
private Optional<Distance> length = Optional.empty();
/**
* {@link yams.mechanisms.positional.Arm} mass for simulation.
*/
private Optional<Mass> weight = Optional.empty();
private Optional<Mass> weight = Optional.empty();
/**
* {@link yams.mechanisms.positional.Arm} MOI from CAD software. If not given estimated with length and weight.
*/
private OptionalDouble moi = OptionalDouble.empty();
private OptionalDouble moi = OptionalDouble.empty();
/**
* Sim color value
*/
private Color8Bit simColor = new Color8Bit(Color.kOrange);
private Color8Bit simColor = new Color8Bit(Color.kOrange);
/**
* Mechanism position configuration for the {@link yams.mechanisms.positional.Pivot} (Optional).
*/
private MechanismPositionConfig mechanismPositionConfig = new MechanismPositionConfig();
private MechanismPositionConfig mechanismPositionConfig = new MechanismPositionConfig();
/**
* Horizontal zero of the arm's absolute encoder.
*/
private Optional<Angle> horizantalZero = Optional.empty();
/**
* Starting position of the arms motor controller encoder.
*/
private Optional<Angle> startingPosition = Optional.empty();
/**
* Lower and upper soft limits of the arms closed loop controller. (LowerLimit, UpperLimit)
*/
private Optional<Pair<Angle, Angle>> softLimits = Optional.empty();
/**
* Wrapping angles for the Arm applied to the motor controllers closed loop controller. (Min, Max)
*/
private Optional<Pair<Angle, Angle>> continuousWrapping = Optional.empty();

/**
* Arm Configuration class
Expand All @@ -72,9 +89,73 @@ public class ArmConfig
*/
public ArmConfig(SmartMotorController motorController)
{
motor = motorController;
motor = Optional.of(motorController);
}

/**
* Arm configuration class. Required
*/
public ArmConfig()
{}

/**
* Copy constructor.
*
* @param cfg Configuration to copy from.
*/
private ArmConfig(ArmConfig cfg)
{
motor = cfg.motor;
networkTableName = cfg.networkTableName;
telemetryName = cfg.telemetryName;
telemetryVerbosity = cfg.telemetryVerbosity;
lowerHardLimit = cfg.lowerHardLimit;
upperHardLimit = cfg.upperHardLimit;
length = cfg.length;
weight = cfg.weight;
moi = cfg.moi;
simColor = cfg.simColor;
mechanismPositionConfig = cfg.mechanismPositionConfig;
startingPosition = cfg.startingPosition;
softLimits = cfg.softLimits;
continuousWrapping = cfg.continuousWrapping;
horizantalZero = cfg.horizantalZero;
}

@Override
public ArmConfig clone()
{
return new ArmConfig(this);
}

/**
* Configure the {@link SmartMotorController} for the {@link yams.mechanisms.positional.Arm}
*
* @param motorController Primary {@link SmartMotorController} for the {@link yams.mechanisms.positional.Arm}
* @return {@link ArmConfig} for chaining.
*/
public ArmConfig withSmartMotorController(SmartMotorController motorController)
{
if (motor.isPresent())
{
throw new ArmConfigurationException("Arm already has a SmartMotorController!",
"Cannot set a new one!",
".withSmartMotorController(SmartMotorController)");
}
motor = Optional.of(motorController);
moi.ifPresent(moi -> motorController.getConfig().withMomentOfInertia(moi));
if (length.isPresent() && weight.isPresent() && moi.isEmpty())
{
motorController.getConfig().withMomentOfInertia(length.get(), weight.get());
}
horizantalZero.ifPresent(this::withHorizontalZero);
startingPosition.ifPresent(this::withStartingPosition);
softLimits.ifPresent(limits -> withSoftLimits(limits.getFirst(), limits.getSecond()));
continuousWrapping.ifPresent(wrapping -> withWrapping(wrapping.getFirst(), wrapping.getSecond()));
return this;
}


/**
* Publish the color in sim as this.
*
Expand All @@ -96,7 +177,7 @@ public ArmConfig withSimColor(final Color8Bit simColor)
*/
public ArmConfig withMOI(double MOI)
{
motor.getConfig().withMomentOfInertia(MOI);
motor.ifPresent(motor -> motor.getConfig().withMomentOfInertia(MOI));
this.moi = OptionalDouble.of(MOI);
return this;
}
Expand All @@ -111,7 +192,7 @@ public ArmConfig withLength(Distance distance)
{
if (weight.isPresent() && distance != null)
{
motor.getConfig().withMomentOfInertia(distance, weight.get());
motor.ifPresent(motor -> motor.getConfig().withMomentOfInertia(distance, weight.get()));
}
this.length = Optional.ofNullable(distance);
return this;
Expand All @@ -127,7 +208,7 @@ public ArmConfig withMass(Mass mass)
{
if (length.isPresent() && mass != null)
{
motor.getConfig().withMomentOfInertia(length.get(), mass);
motor.ifPresent(motor -> motor.getConfig().withMomentOfInertia(length.get(), mass));
}
this.weight = Optional.ofNullable(mass);
return this;
Expand Down Expand Up @@ -165,7 +246,7 @@ public ArmConfig withTelemetry(String networkRoot, String telemetryName, Telemet
}

/**
* Set the elevator mechnism position configuration.
* Set the elevator mechanism position configuration.
*
* @param mechanismPositionConfig {@link MechanismPositionConfig} for the {@link yams.mechanisms.positional.Elevator}
* @return {@link PivotConfig} for chaining
Expand All @@ -176,27 +257,30 @@ public ArmConfig withMechanismPositionConfig(MechanismPositionConfig mechanismPo
return this;
}


/**
* Set the horizontal zero of the arm.
* Set the horizontal zero of the arms absolute encoder.
*
* @param horizontalZero Offset of the arm that will make the arm read 0 when horizontal.
* @return {@link ArmConfig} for chaining.
*/
public ArmConfig withHorizontalZero(Angle horizontalZero)
{
motor.getConfig().withExternalEncoderZeroOffset(horizontalZero);
this.horizantalZero = Optional.ofNullable(horizontalZero);
motor.ifPresent(motor -> motor.getConfig().withExternalEncoderZeroOffset(horizontalZero));
return this;
}

/**
* Set the arm starting position.
* Set the arm starting angle of the motor controller encoder.
*
* @param startingPosition Starting position of the arm.
* @return {@link ArmConfig} for chaining
*/
public ArmConfig withStartingPosition(Angle startingPosition)
{
motor.getConfig().withStartingPosition(startingPosition);
this.startingPosition = Optional.ofNullable(startingPosition);
motor.ifPresent(motor -> motor.getConfig().withStartingPosition(startingPosition));
return this;
}

Expand All @@ -209,7 +293,8 @@ public ArmConfig withStartingPosition(Angle startingPosition)
*/
public ArmConfig withSoftLimits(Angle lowerLimit, Angle upperLimit)
{
motor.getConfig().withSoftLimit(lowerLimit, upperLimit);
softLimits = Optional.of(Pair.of(lowerLimit, upperLimit));
motor.ifPresent(motor -> motor.getConfig().withSoftLimit(lowerLimit, upperLimit));
return this;
}

Expand All @@ -223,7 +308,8 @@ public ArmConfig withSoftLimits(Angle lowerLimit, Angle upperLimit)
*/
public ArmConfig withWrapping(Angle min, Angle max)
{
motor.getConfig().withContinuousWrapping(min, max);
continuousWrapping = Optional.of(Pair.of(min, max));
motor.ifPresent(motor -> motor.getConfig().withContinuousWrapping(min, max));
return this;
}

Expand All @@ -248,7 +334,7 @@ public ArmConfig withHardLimit(Angle min, Angle max)
*/
public boolean applyConfig()
{
return motor.applyConfig(motor.getConfig());
return motor.orElseThrow().applyConfig(motor.orElseThrow().getConfig());
}

/**
Expand Down Expand Up @@ -328,7 +414,7 @@ public Optional<String> getTelemetryName()
*/
public Optional<Angle> getStartingAngle()
{
return motor.getConfig().getStartingPosition();
return startingPosition;
}

/**
Expand All @@ -338,7 +424,7 @@ public Optional<Angle> getStartingAngle()
*/
public SmartMotorController getMotor()
{
return motor;
return motor.orElseThrow();
}

/**
Expand Down
77 changes: 67 additions & 10 deletions yams/java/yams/mechanisms/config/DifferentialMechanismConfig.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,11 +30,11 @@ public class DifferentialMechanismConfig
/**
* {@link SmartMotorController} for the {@link DifferentialMechanism}
*/
private final SmartMotorController leftMotorController;
private Optional<SmartMotorController> leftMotorController = Optional.empty();
/**
* {@link SmartMotorController} for the {@link DifferentialMechanism}
*/
private final SmartMotorController rightMotorController;
private Optional<SmartMotorController> rightMotorController = Optional.empty();
/**
* The network root of the mechanism (Optional).
*/
Expand Down Expand Up @@ -97,11 +97,68 @@ public class DifferentialMechanismConfig
*/
public DifferentialMechanismConfig(SmartMotorController left, SmartMotorController right)
{
leftMotorController = left;
rightMotorController = right;
leftMotorController = Optional.ofNullable(left);
rightMotorController = Optional.ofNullable(right);
mechanismPositionConfig.withMovementPlane(Plane.XY);
}

/**
* Differential Mechanism configuration class. Required call to
* {@link #withSmartMotorControllers(SmartMotorController, SmartMotorController)} before usage.
*/
public DifferentialMechanismConfig()
{
mechanismPositionConfig.withMovementPlane(Plane.XY);
}

/**
* Copy constructor.
*
* @param cfg Configuration to copy.
*/
private DifferentialMechanismConfig(DifferentialMechanismConfig cfg)
{
this.leftMotorController = cfg.leftMotorController;
this.rightMotorController = cfg.rightMotorController;
this.telemetryName = cfg.telemetryName;
this.telemetryVerbosity = cfg.telemetryVerbosity;
this.twistGearing = cfg.twistGearing;
this.twistAngle = cfg.twistAngle;
this.tiltAngle = cfg.tiltAngle;
this.startingTwistAngle = cfg.startingTwistAngle;
this.startingTiltAngle = cfg.startingTiltAngle;
this.MOI = cfg.MOI;
this.length = cfg.length;
this.simColor = cfg.simColor;
this.mechanismPositionConfig = cfg.mechanismPositionConfig;
this.networkRoot = cfg.networkRoot;
}

@Override
public DifferentialMechanismConfig clone()
{
return new DifferentialMechanismConfig(this);
}

/**
* Add the smart motor controllers to the configuration.
*
* @param left Left {@link SmartMotorController}
* @param right Right {@link SmartMotorController}
* @return {@link DifferentialMechanismConfig} for chaining.
*/
public DifferentialMechanismConfig withSmartMotorControllers(SmartMotorController left, SmartMotorController right)
{
if(leftMotorController.isPresent())
throw new DifferentialMechanismConfigurationException("Left motor controller already defined.","Cannot redefine left motor controller!", ".withSmartMotorControllers");
if(rightMotorController.isPresent())
throw new DifferentialMechanismConfigurationException("Right motor controller already defined.","Cannot redefine right motor controller!", ".withSmartMotorControllers");
leftMotorController = Optional.ofNullable(left);
rightMotorController = Optional.ofNullable(right);
setStartingEncoderPositions();
return this;
}

/**
* Get the twist angle of the {@link DifferentialMechanism} with any additional twist gearing.
*
Expand Down Expand Up @@ -161,8 +218,8 @@ private void setStartingEncoderPositions()
var tilt = startingTiltAngle.get();
var left = getLeftMechanismPosition(tilt, twist);
var right = getRightMechanismPosition(tilt, twist);
leftMotorController.getConfig().withStartingPosition(left);
rightMotorController.getConfig().withStartingPosition(right);
leftMotorController.ifPresent(leftMotorController ->leftMotorController.getConfig().withStartingPosition(left));
rightMotorController.ifPresent(rightMotorController -> rightMotorController.getConfig().withStartingPosition(right));
}
}

Expand Down Expand Up @@ -319,8 +376,8 @@ public DifferentialMechanismConfig withTiltStartingPosition(Angle startingPositi
*/
public boolean applyConfig()
{
return leftMotorController.applyConfig(leftMotorController.getConfig()) && rightMotorController.applyConfig(
rightMotorController.getConfig());
return leftMotorController.orElseThrow().applyConfig(leftMotorController.orElseThrow().getConfig()) &&
rightMotorController.orElseThrow().applyConfig(rightMotorController.orElseThrow().getConfig());
}


Expand Down Expand Up @@ -448,7 +505,7 @@ public Optional<Supplier<Angle>> getTiltAngleSupplier()
*/
public SmartMotorController getLeftMotorController()
{
return leftMotorController;
return leftMotorController.orElseThrow();
}

/**
Expand All @@ -458,7 +515,7 @@ public SmartMotorController getLeftMotorController()
*/
public SmartMotorController getRightMotorController()
{
return rightMotorController;
return rightMotorController.orElseThrow();
}

/**
Expand Down
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