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[examples] Synchronize C++ and Java Mechanism2d examples (#3589)

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- Synchronize dimensions
- Make both joints different colors for clarity
This commit is contained in:
sciencewhiz
2021-09-18 22:05:35 -07:00
committed by GitHub
parent a7fb831035
commit a446c25598
4 changed files with 15 additions and 8 deletions
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7
wpilibcExamples/src/main/cpp/examples/Mechanism2d/cpp/Robot.cpp
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@@ -11,6 +11,8 @@
#include <frc/smartdashboard/Mechanism2d.h>
#include <frc/smartdashboard/MechanismLigament2d.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <frc/util/Color.h>
#include <frc/util/Color8Bit.h>
#include <units/angle.h>
/**
@@ -57,13 +59,14 @@ class Robot : public frc::TimedRobot {
// the main mechanism object
frc::Mechanism2d m_mech{3, 3};
// the mechanism root node
frc::MechanismRoot2d* m_root = m_mech.GetRoot("climber", 3, 3);
frc::MechanismRoot2d* m_root = m_mech.GetRoot("climber", 2, 0);
// MechanismLigament2d objects represent each "section"/"stage" of the
// mechanism, and are based off the root node or another ligament object
frc::MechanismLigament2d* m_elevator =
m_root->Append<frc::MechanismLigament2d>("elevator", 1, 90_deg);
frc::MechanismLigament2d* m_wrist =
m_elevator->Append<frc::MechanismLigament2d>("wrist", 0.5, 90_deg);
m_elevator->Append<frc::MechanismLigament2d>(
"wrist", 0.5, 90_deg, 6, frc::Color8Bit{frc::Color::kPurple});
};
#ifndef RUNNING_FRC_TESTS

2
wpilibcExamples/src/main/cpp/examples/examples.json
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@@ -56,7 +56,7 @@
"foldername":"Mechanism2d",
"gradlebase":"cpp",
"description":"An example usage of Mechanism2d to display mechanism states on a dashboard.",
"tags":[],
"tags":["Mechanism2d"],
"commandversion": 2
},
{

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
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@@ -211,7 +211,7 @@
},
{"name": "Mechanism2d",
"description": "An example usage of Mechanism2d to display mechanism states on a dashboard.",
"tags": [],
"tags": ["Mechanism2d"],
"foldername": "mechanism2d",
"gradlebase": "java",
"mainclass": "Main",

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mechanism2d/Robot.java
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@@ -13,6 +13,8 @@ import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.util.Color;
import edu.wpi.first.wpilibj.util.Color8Bit;
/**
* This sample program shows how to use Mechanism2d - a visual representation of arms, elevators,
@@ -39,14 +41,16 @@ public class Robot extends TimedRobot {
m_elevatorEncoder.setDistancePerPulse(kMetersPerPulse);
// the main mechanism object
Mechanism2d mech = new Mechanism2d(200, 200);
Mechanism2d mech = new Mechanism2d(3, 3);
// the mechanism root node
MechanismRoot2d root = mech.getRoot("climber", 80, 100);
MechanismRoot2d root = mech.getRoot("climber", 2, 0);
// MechanismLigament2d objects represent each "section"/"stage" of the mechanism, and are based
// off the root node or another ligament object
m_elevator = root.append(new MechanismLigament2d("elevator", 10, 90));
m_wrist = m_elevator.append(new MechanismLigament2d("wrist", 6, 90));
m_elevator = root.append(new MechanismLigament2d("elevator", kElevatorMinimumLength, 90));
m_wrist =
m_elevator.append(
new MechanismLigament2d("wrist", 0.5, 90, 6, new Color8Bit(Color.kPurple)));
// post the mechanism to the dashboard
SmartDashboard.putData("Mech2d", mech);