Arm

The arm subsystem is for a single arm. It can be used to move to a position and respond to manual commands.

To create an arm subsystem, you can use the following code:

wom::Arm *arm = new wom::Arm(config); // config is a ArmConfig

Parameters

Type	Name	Description	See Also
wom::ArmConfig	config	The configuration for the arm

Config

Type	Name	Description	See Also
std::string	path	The path to the arm in the NT tables
wom::Gearbox	leftGearbox	The left gearbox for the arm
wom::Gearbox	rightGearbox	The right gearbox for the arm
wom::CANSparkMaxEncoder	armEncoder	The encoder for the arm
wom::utils::PIDConfig<units::radian, units::volt>	pidConfig	The PID configuration for the arm	PID Config
wom::utils::PIDConfig<units::radians_per_second, units::volt>	velocityConfig	The velocity PID configuration for the arm	PID Config
units::kilogram_t	armMass	The mass of the arm
units::kilogram_t	loadMass	The mass of the load
units::meter_t	armLength	The length of the arm
units::radian_t	minAngle	The minimum angle of the arm
units::radian_t	maxAngle	The maximum angle of the arm
units::radian_t	initialAngle	The initial angle of the arm
units::radian_t	angleOffset	The angle offset of the arm

States

wom::ArmState is an enum of states for the arm.

Name	Value	Description
kIdle	0	The arm is idle
kAngle	1	The arm is in angle mode
kRaw	2	The arm is in raw mode
kVelocity	3	The arm is in velocity mode

Methods

SetIdle

Sets the arm to idle mode.

void SetIdle();

Usage

arm->SetIdle();

SetAngle

Sets the arm to angle mode.

void SetAngle(units::radian_t angle);

Usage

arm->SetAngle(90_deg);

SetRaw

Sets the arm to raw mode.

void SetRaw(units::volt_t voltage);

Usage

arm->SetRaw(12_V);

SetVelocity

Sets the arm to velocity mode.

void SetVelocity(units::radians_per_second_t velocity);

Usage

arm->SetVelocity(100_rad_per_s);

SetState

Sets the state of the arm.

void SetState(wom::ArmState state);

See States for the possible states.

Usage

arm->SetState(wom::ArmState::kAngle);

SetArmSpeedLimit

Sets the arm speed limit.

void SetArmSpeedLimit(double limit);

Usage

arm->SetArmSpeedLimit(0.5);

GetConfig

Returns the arm config.

wom::ArmConfig GetConfig();

Usage

wom::ArmConfig config = arm->GetConfig();

GetAngle

Returns the arm angle.

units::radian_t GetAngle();

Usage

units::radian_t angle = arm->GetAngle();

MaxSpeed

Returns the maximum speed of the arm.

units::radians_per_second_t MaxSpeed();

Usage

units::radians_per_second_t maxSpeed = arm->MaxSpeed();

GetArmVelocity

Returns the arm velocity.

units::radians_per_second_t GetArmVelocity();

Usage

units::radians_per_second_t velocity = arm->GetArmVelocity();

IsStable

Returns whether the arm is stable.

bool IsStable();

Usage

bool stable = arm->IsStable();