Package frc.spectrumLib.sim

Interface Mountable

All Known Implementing Classes:
ArmSim, LinearSim, RollerSim
public interface Mountable
Mixin interface for simulation components that can be attached to a Mount. Provides default geometry helpers that compute the component's updated canvas position each simulation period, taking the parent mount's type, current position, and current angle into account.

  • Method Summary

    Modifier and Type
    Method
    Description
    static double
    getAngleOffset(double initialX, double initialY, double mountX, double mountY, double startingAngle)
    Returns the radians a mounted object should be away from a mount based on their initial positions
    static double
    getDistance(double x1, double y1, double x2, double y2)
    Computes the straight-line distance between two points on the canvas.
    default double
    getUpdatedX(ArmConfig config)
    Convenience overload that derives all geometry parameters from an ArmConfig.
    default double
    getUpdatedX(LinearConfig config)
    Convenience overload that derives all geometry parameters from a LinearConfig.
    default double
    getUpdatedX(Mount.MountType mountType, double initialX, double initialY, double initMountX, double initMountY, double initMountAngle, double mountX, double mountY, double displacementX, double displacementY, double mountAngle)
    Computes the updated X position of a mounted component given full explicit geometry parameters.
    default double
    getUpdatedX(RollerConfig config)
    Convenience overload that derives all geometry parameters from a RollerConfig.
    default double
    getUpdatedY(ArmConfig config)
    Convenience overload that derives all geometry parameters from an ArmConfig.
    default double
    getUpdatedY(LinearConfig config)
    Convenience overload that derives all geometry parameters from a LinearConfig.
    default double
    getUpdatedY(Mount.MountType mountType, double initialX, double initialY, double initMountX, double initMountY, double initMountAngle, double mountX, double mountY, double displacementX, double displacementY, double mountAngle)
    Computes the updated Y position of a mounted component given full explicit geometry parameters.
    default double
    getUpdatedY(RollerConfig config)
    Convenience overload that derives all geometry parameters from a RollerConfig.
    static double
    getXWithAngle(double radius, double angle, double displacementX)
    Computes the X coordinate of a point at radius distance from displacementX in the direction of angle.
    static double
    getYWithAngle(double radius, double angle, double displacementY)
    Computes the Y coordinate of a point at radius distance from displacementY in the direction of angle.

  • Method Details

    • getUpdatedX

      default double getUpdatedX(Mount.MountType mountType, double initialX, double initialY, double initMountX, double initMountY, double initMountAngle, double mountX, double mountY, double displacementX, double displacementY, double mountAngle)
      Computes the updated X position of a mounted component given full explicit geometry parameters.
      Parameters:
      mountType - type of the parent mount (ARM or LINEAR)
      initialX - component's initial X position on the canvas (metres)
      initialY - component's initial Y position on the canvas (metres)
      initMountX - mount's X position at simulation start (metres)
      initMountY - mount's Y position at simulation start (metres)
      initMountAngle - mount's angle at simulation start (radians)
      mountX - mount's current X position (metres)
      mountY - mount's current Y position (metres)
      displacementX - mount's current horizontal displacement from its initial position (metres)
      displacementY - mount's current vertical displacement from its initial position (metres)
      mountAngle - mount's current angle (radians)
      Returns:
      updated X position of the component on the canvas (metres)

    • getUpdatedY

      default double getUpdatedY(Mount.MountType mountType, double initialX, double initialY, double initMountX, double initMountY, double initMountAngle, double mountX, double mountY, double displacementX, double displacementY, double mountAngle)
      Computes the updated Y position of a mounted component given full explicit geometry parameters.
      Parameters:
      mountType - type of the parent mount (ARM or LINEAR)
      initialX - component's initial X position on the canvas (metres)
      initialY - component's initial Y position on the canvas (metres)
      initMountX - mount's X position at simulation start (metres)
      initMountY - mount's Y position at simulation start (metres)
      initMountAngle - mount's angle at simulation start (radians)
      mountX - mount's current X position (metres)
      mountY - mount's current Y position (metres)
      displacementX - mount's current horizontal displacement from its initial position (metres)
      displacementY - mount's current vertical displacement from its initial position (metres)
      mountAngle - mount's current angle (radians)
      Returns:
      updated Y position of the component on the canvas (metres)

    • getUpdatedX

      default double getUpdatedX(RollerConfig config)
      Convenience overload that derives all geometry parameters from a RollerConfig.
      Parameters:
      config - the roller configuration carrying mount and initial-position data
      Returns:
      updated X position on the canvas (metres)

    • getUpdatedX

      default double getUpdatedX(ArmConfig config)
      Convenience overload that derives all geometry parameters from an ArmConfig.
      Parameters:
      config - the arm configuration carrying mount and initial-position data
      Returns:
      updated X position on the canvas (metres)

    • getUpdatedX

      default double getUpdatedX(LinearConfig config)
      Convenience overload that derives all geometry parameters from a LinearConfig.
      Parameters:
      config - the linear stage configuration carrying mount and initial-position data
      Returns:
      updated X position on the canvas (metres)

    • getUpdatedY

      default double getUpdatedY(RollerConfig config)
      Convenience overload that derives all geometry parameters from a RollerConfig.
      Parameters:
      config - the roller configuration carrying mount and initial-position data
      Returns:
      updated Y position on the canvas (metres)

    • getUpdatedY

      default double getUpdatedY(ArmConfig config)
      Convenience overload that derives all geometry parameters from an ArmConfig.
      Parameters:
      config - the arm configuration carrying mount and initial-position data
      Returns:
      updated Y position on the canvas (metres)

    • getUpdatedY

      default double getUpdatedY(LinearConfig config)
      Convenience overload that derives all geometry parameters from a LinearConfig.
      Parameters:
      config - the linear stage configuration carrying mount and initial-position data
      Returns:
      updated Y position on the canvas (metres)

    • getAngleOffset

      static double getAngleOffset(double initialX, double initialY, double mountX, double mountY, double startingAngle)
      Returns the radians a mounted object should be away from a mount based on their initial positions

    • getDistance

      static double getDistance(double x1, double y1, double x2, double y2)
      Computes the straight-line distance between two points on the canvas.
      Parameters:
      x1 - X coordinate of the first point (metres)
      y1 - Y coordinate of the first point (metres)
      x2 - X coordinate of the second point (metres)
      y2 - Y coordinate of the second point (metres)
      Returns:
      Euclidean distance in metres

    • getXWithAngle

      static double getXWithAngle(double radius, double angle, double displacementX)
      Computes the X coordinate of a point at radius distance from displacementX in the direction of angle.
      Parameters:
      radius - distance from the reference point (metres)
      angle - direction angle in radians
      displacementX - reference X coordinate (metres)
      Returns:
      resulting X coordinate (metres)

    • getYWithAngle

      static double getYWithAngle(double radius, double angle, double displacementY)
      Computes the Y coordinate of a point at radius distance from displacementY in the direction of angle.
      Parameters:
      radius - distance from the reference point (metres)
      angle - direction angle in radians
      displacementY - reference Y coordinate (metres)
      Returns:
      resulting Y coordinate (metres)