Package org.ironmaple.simulation

Class IntakeSimulation

java.lang.Object

org.dyn4j.collision.Fixture

org.dyn4j.dynamics.BodyFixture

org.ironmaple.simulation.IntakeSimulation

All Implemented Interfaces:

org.dyn4j.DataContainer

public class IntakeSimulation
extends org.dyn4j.dynamics.BodyFixture

Simulates an Intake Mechanism on the Robot.

CheckOnline Documentation

The intake is a 2D component attached to one side of the robot's chassis. It is rectangular in shape and extends from the robot when activated.

The intake can be turned on through startIntake(), which causes it to extend, expanding the collision space of the robot's chassis. When turned off via stopIntake(), the intake retracts.

The intake can "collect" GamePieceOnFieldSimulation instances from the field, removing them and incrementing the gamePiecesInIntakeCount.

A game piece is collected if the following conditions are met:

• 1. The type of the game piece (GamePieceOnFieldSimulation.type) matches targetedGamePieceType.
• 2. The GamePieceOnFieldSimulation is in contact with the intake (and not other parts of the robot).
• 3. The intake is turned on via startIntake().
• 4. The number of game pieces in the intake (gamePiecesInIntakeCount) is less than capacity.

Note: This class simulates an idealized "touch it, get it" intake and does not model the actual functioning of an intake mechanism.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
final class	IntakeSimulation.GamePieceContactListener	The ContactListener for the Intake Simulation.
static enum	IntakeSimulation.IntakeSide

Field Summary

Fields inherited from class org.dyn4j.dynamics.BodyFixture

DEFAULT_DENSITY, DEFAULT_FRICTION, DEFAULT_RESTITUTION, DEFAULT_RESTITUTION_VELOCITY, density, friction, restitution, restitutionVelocity

Fields inherited from class org.dyn4j.collision.Fixture

filter, sensor, shape, userData

Constructor Summary

Constructors

Constructor	Description
IntakeSimulation(String targetedGamePieceType, AbstractDriveTrainSimulation driveTrainSimulation, org.dyn4j.geometry.Convex shape, int capacity)	Creates an Intake Simulation with a Specific Shape.

Method Summary

Modifier and Type	Method	Description
boolean	addGamePieceToIntake()	Adds 1 game piece from the intake.
IntakeSimulation.GamePieceContactListener	getGamePieceContactListener()	Obtains a New Instance of the IntakeSimulation.GamePieceContactListener for This Intake.
int	getGamePiecesAmount()	Get the amount of game pieces in the intake.
static IntakeSimulation	InTheFrameIntake(String targetedGamePieceType, AbstractDriveTrainSimulation driveTrainSimulation, Distance width, IntakeSimulation.IntakeSide side, int capacity)	Creates an Intake Simulation that Tightly Attaches to One Side of the Chassis.
boolean	obtainGamePieceFromIntake()	Removes 1 game piece from the intake.
static IntakeSimulation	OverTheBumperIntake(String targetedGamePieceType, AbstractDriveTrainSimulation driveTrainSimulation, Distance width, Distance lengthExtended, IntakeSimulation.IntakeSide side, int capacity)	Creates an Intake Simulation that Extends Out of the Chassis Frame.
void	register()
void	register(SimulatedArena arena)
void	removeObtainedGamePieces(SimulatedArena arena)	Clears the game pieces that have been obtained by the intake.
int	setGamePiecesCount(int gamePiecesInIntakeCount)	Sets the amount of game pieces in the intake.
void	startIntake()	Turns the Intake On.
void	stopIntake()	Turns the Intake Off.

Methods inherited from class org.dyn4j.dynamics.BodyFixture

createMass, getDensity, getFriction, getRestitution, getRestitutionVelocity, setDensity, setFriction, setRestitution, setRestitutionVelocity, toString

Methods inherited from class org.dyn4j.collision.Fixture

getFilter, getShape, getUserData, isSensor, setFilter, setSensor, setUserData

Methods inherited from class java.lang.Object

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

Methods inherited from interface org.dyn4j.DataContainer

getUserData, setUserData

Constructor Details

IntakeSimulation

public IntakeSimulation(String targetedGamePieceType,
 AbstractDriveTrainSimulation driveTrainSimulation,
 org.dyn4j.geometry.Convex shape,
 int capacity)

Creates an Intake Simulation with a Specific Shape.

This constructor initializes an intake with a custom shape that is used when the intake is fully extended.

Parameters:

targetedGamePieceType - the type of game pieces that this intake can collect

driveTrainSimulation - the chassis to which this intake is attached

shape - the shape of the intake when fully extended, represented as a Convex object

capacity - the maximum number of game pieces that the intake can hold

Method Details

InTheFrameIntake

public static IntakeSimulation InTheFrameIntake(String targetedGamePieceType,
 AbstractDriveTrainSimulation driveTrainSimulation,
 Distance width,
 IntakeSimulation.IntakeSide side,
 int capacity)

Creates an Intake Simulation that Tightly Attaches to One Side of the Chassis.

This typically represents an In-The-Frame (ITF) Intake.

Parameters:

targetedGamePieceType - the type of game pieces that this intake can collect

driveTrainSimulation - the chassis to which this intake is attached

width - the width of the intake

side - the side of the chassis where the intake is attached

capacity - the maximum number of game pieces that the intake can hold

OverTheBumperIntake

public static IntakeSimulation OverTheBumperIntake(String targetedGamePieceType,
 AbstractDriveTrainSimulation driveTrainSimulation,
 Distance width,
 Distance lengthExtended,
 IntakeSimulation.IntakeSide side,
 int capacity)

Creates an Intake Simulation that Extends Out of the Chassis Frame.

This typically represents an Over-The-Bumper (OTB) Intake.

Parameters:

targetedGamePieceType - the type of game pieces that this intake can collect

driveTrainSimulation - the chassis to which this intake is attached

width - the valid width of the intake

lengthExtended - the length the intake extends out from the chassis when activated

side - the side of the chassis where the intake is attached

capacity - the maximum number of game pieces that the intake can hold

Returns:

a new instance of IntakeSimulation that extends over the bumper

startIntake

public void startIntake()

Turns the Intake On.

Extends the intake out from the chassis, making it part of the chassis's collision space.

Once activated, the intake is considered running and will listen for contact with GamePieceOnFieldSimulation instances, allowing it to collect game pieces.

stopIntake

public void stopIntake()

Turns the Intake Off.

Retracts the intake into the chassis, removing it from the chassis's collision space.

Once turned off, the intake will no longer listen for or respond to contacts with GamePieceOnFieldSimulation instances.

getGamePiecesAmount

public int getGamePiecesAmount()

Get the amount of game pieces in the intake.

Returns:

the amount of game pieces stored in the intake

obtainGamePieceFromIntake

public boolean obtainGamePieceFromIntake()

Removes 1 game piece from the intake.

Deducts the getGamePiecesAmount()} by 1, if there is any remaining.

This is used to obtain a game piece from the intake and move it a feeder/shooter.

Returns:

if there is game piece(s) remaining, and therefore retrieved

addGamePieceToIntake

public boolean addGamePieceToIntake()

Adds 1 game piece from the intake.

Increases the getGamePiecesAmount()} by 1, if there is still space.

Returns:

if there is still space in the intake to perform this action

setGamePiecesCount

public int setGamePiecesCount(int gamePiecesInIntakeCount)

Sets the amount of game pieces in the intake.

Sets the getGamePiecesAmount()} to a given amount.

Will make sure that the amount is non-negative and does not exceed the capacity

Returns:

the actual (clamped) game piece count after performing this action

getGamePieceContactListener

public IntakeSimulation.GamePieceContactListener getGamePieceContactListener()

Obtains a New Instance of the IntakeSimulation.GamePieceContactListener for This Intake.

Returns:

a new IntakeSimulation.GamePieceContactListener for this intake

removeObtainedGamePieces

public void removeObtainedGamePieces(SimulatedArena arena)

Clears the game pieces that have been obtained by the intake.

This method is called from SimulatedArena.simulationPeriodic() to remove the GamePieceOnFieldSimulation instances that have been obtained by the intake from the field.

Game pieces are marked for removal if they have come into contact with the intake during the last SimulatedArena.getSimulationSubTicksIn1Period() sub-ticks. These game pieces should be removed from the field to reflect their interaction with the intake.

register

public void register()

register

public void register(SimulatedArena arena)