Package edu.wpi.first.wpilibj.smartdashboard

Class MechanismLigament2d

java.lang.Object

edu.wpi.first.wpilibj.smartdashboard.MechanismObject2d

edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d

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.
double	getLength()	Get the ligament length.
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.
void	setColor(Color8Bit color)	Set the ligament color.
void	setLength(double length)	Set the ligament's length.
void	setLineWeight(double weight)	Set the line thickness.
protected void	updateEntries(NetworkTable table)	Update all entries with new ones from a new table.

Methods inherited from class edu.wpi.first.wpilibj.smartdashboard.MechanismObject2d

append, getName

Methods inherited from class java.lang.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.

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.

Method Details

setAngle

public 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 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 void setColor(Color8Bit color)

Set the ligament color.

Parameters:

color - the color of the line

setLineWeight

public void setLineWeight(double weight)

Set the line thickness.

Parameters:

weight - the line thickness

updateEntries

protected void updateEntries(NetworkTable table)

Description copied from class: MechanismObject2d

Update all entries with new ones from a new table.

Specified by:

updateEntries in class MechanismObject2d

Parameters:

table - the new table.