Package edu.wpi.first.wpilibj2.command.sysid

Class SysIdRoutine.Mechanism

java.lang.Object

edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Mechanism

Enclosing class:

SysIdRoutine

public static class SysIdRoutine.Mechanism
extends Object

A mechanism to be characterized by a SysId routine. Defines callbacks needed for the SysId test routine to control and record data from the mechanism.

Field Summary

Fields

Modifier and Type	Field	Description
Consumer<Measure<Voltage>>	m_drive	Sends the SysId-specified drive signal to the mechanism motors during test routines.
Consumer<SysIdRoutineLog>	m_log	Returns measured data (voltages, positions, velocities) of the mechanism motors during test routines.
String	m_name	The name of the mechanism being tested.
Subsystem	m_subsystem	The subsystem containing the motor(s) that is (or are) being characterized.

Constructor Summary

Constructors

Constructor	Description
Mechanism(Consumer<Measure<Voltage>> drive, Consumer<SysIdRoutineLog> log, Subsystem subsystem)	Create a new mechanism specification for a SysId routine.
Mechanism(Consumer<Measure<Voltage>> drive, Consumer<SysIdRoutineLog> log, Subsystem subsystem, String name)	Create a new mechanism specification for a SysId routine.

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

m_drive

public final Consumer<Measure<Voltage>> m_drive

Sends the SysId-specified drive signal to the mechanism motors during test routines.

m_log

public final Consumer<SysIdRoutineLog> m_log

Returns measured data (voltages, positions, velocities) of the mechanism motors during test routines.

m_subsystem

public final Subsystem m_subsystem

The subsystem containing the motor(s) that is (or are) being characterized.

m_name

public final String m_name

The name of the mechanism being tested.

Constructor Details

Mechanism

public Mechanism(Consumer<Measure<Voltage>> drive, Consumer<SysIdRoutineLog> log, Subsystem subsystem, String name)

Create a new mechanism specification for a SysId routine.

Parameters:

drive - Sends the SysId-specified drive signal to the mechanism motors during test routines.

log - Returns measured data of the mechanism motors during test routines. To return data, call `motor(string motorName)` on the supplied `SysIdRoutineLog` instance, and then call one or more of the chainable logging handles (e.g. `voltage`) on the returned `MotorLog`. Multiple motors can be logged in a single callback by calling `motor` multiple times.

subsystem - The subsystem containing the motor(s) that is (or are) being characterized. Will be declared as a requirement for the returned test commands.

name - The name of the mechanism being tested. Will be appended to the log entry title for the routine's test state, e.g. "sysid-test-state-mechanism". Defaults to the name of the subsystem if left null.

Mechanism

public Mechanism(Consumer<Measure<Voltage>> drive, Consumer<SysIdRoutineLog> log, Subsystem subsystem)

Create a new mechanism specification for a SysId routine. Defaults the mechanism name to the subsystem name.

Parameters:

drive - Sends the SysId-specified drive signal to the mechanism motors during test routines.

log - Returns measured data of the mechanism motors during test routines. To return data, call `motor(string motorName)` on the supplied `SysIdRoutineLog` instance, and then call one or more of the chainable logging handles (e.g. `voltage`) on the returned `MotorLog`. Multiple motors can be logged in a single callback by calling `motor` multiple times.

subsystem - The subsystem containing the motor(s) that is (or are) being characterized. Will be declared as a requirement for the returned test commands. The subsystem's `name` will be appended to the log entry title for the routine's test state, e.g. "sysid-test-state-subsystem".