Class MechanismLigament2d

java.lang.Object

org.wpilib.smartdashboard.MechanismObject2d

org.wpilib.smartdashboard.MechanismLigament2d

All Implemented Interfaces:

TelemetryLoggable

public class MechanismLigament2d
extends MechanismObject2d

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

See Also:

• Mechanism2d

Constructor Summary

Constructors

Constructor	Description
MechanismLigament2d(String name, double length, double angle)	Create a new ligament with the default color (orange) and thickness (6).
MechanismLigament2d(String name, double length, double angle, double lineWidth, Color8Bit color)	Create a new ligament.

Method Summary

Modifier and Type	Method	Description
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.
String	getTelemetryType()	Gets the telemetry table type.
void	logTo(TelemetryTable table)	Logs the object to a TelemetryTable.
final 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.
final void	setColor(Color8Bit color)	Set the ligament color.
final void	setLength(double length)	Set the ligament's length.
final void	setLineWeight(double weight)	Set the line thickness.

Methods inherited from class MechanismObject2d

append, getName

Methods inherited from class Object

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

Constructor Details

MechanismLigament2d

public MechanismLigament2d(String name,
 double length,
 double angle,
 double lineWidth,
 Color8Bit color)

Create a new ligament.

Parameters:

name - The ligament name.

length - The ligament length.

angle - The ligament angle in degrees.

lineWidth - The ligament's line width.

color - The ligament's color.

MechanismLigament2d

public MechanismLigament2d(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.

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

Method Details

setAngle

public final 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

getAngle

public double getAngle()

Get the ligament's angle relative to its parent.

Returns:

the angle in degrees

setLength

public final void setLength(double 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 final 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 final 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

logTo

public void logTo(TelemetryTable table)

Description copied from interface: TelemetryLoggable

Logs the object to a TelemetryTable.

Specified by:

logTo in interface TelemetryLoggable

Overrides:

logTo in class MechanismObject2d

Parameters:

table - telemetry table

getTelemetryType

public String getTelemetryType()

Description copied from interface: TelemetryLoggable

Gets the telemetry table type. Default is no specified table type (null). A mismatch in type during logging results in a reported warning, so this should always return the same value.

Returns:

Table type