Package edu.wpi.first.wpilibj.smartdashboard

Class Mechanism2d

java.lang.Object

edu.wpi.first.wpilibj.smartdashboard.Mechanism2d

All Implemented Interfaces:

NTSendable, Sendable

public final class Mechanism2d
extends Object
implements NTSendable

Visual 2D representation of arms, elevators, and general mechanisms through a node-based API.

A Mechanism2d object is published and contains at least one root node. A root is the anchor point of other nodes (such as ligaments). Other nodes are recursively appended based on other nodes.

See Also:

MechanismObject2d, MechanismLigament2d, MechanismRoot2d

Constructor Summary

Constructors

Constructor	Description
Mechanism2d(double width, double height)	Create a new Mechanism2d with the given dimensions and default color (dark blue).
Mechanism2d(double width, double height, Color8Bit backgroundColor)	Create a new Mechanism2d with the given dimensions.

Method Summary

Modifier and Type	Method	Description
MechanismRoot2d	getRoot(String name, double x, double y)	Get or create a root in this Mechanism2d with the given name and position.
void	initSendable(NTSendableBuilder builder)	Initializes this Sendable object.
void	setBackgroundColor(Color8Bit color)	Set the Mechanism2d background color.

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.networktables.NTSendable

initSendable

Constructor Details

Mechanism2d

public Mechanism2d(double width, double height)

Create a new Mechanism2d with the given dimensions and default color (dark blue).

The dimensions represent the canvas that all the nodes are drawn on.

Parameters:

width - the width

height - the height

Mechanism2d

public Mechanism2d(double width, double height, Color8Bit backgroundColor)

Create a new Mechanism2d with the given dimensions.

The dimensions represent the canvas that all the nodes are drawn on.

Parameters:

width - the width

height - the height

backgroundColor - the background color. Defaults to dark blue.

Method Details

getRoot

public MechanismRoot2d getRoot(String name, double x, double y)

Get or create a root in this Mechanism2d with the given name and position.

If a root with the given name already exists, the given x and y coordinates are not used.

Parameters:

name - the root name

x - the root x coordinate

y - the root y coordinate

Returns:

a new root joint object, or the existing one with the given name.

setBackgroundColor

public void setBackgroundColor(Color8Bit color)

Set the Mechanism2d background color.

Parameters:

color - the new color

initSendable

public void initSendable(NTSendableBuilder builder)

Description copied from interface: NTSendable

Initializes this Sendable object.

Specified by:

initSendable in interface NTSendable

Parameters:

builder - sendable builder