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Stop the motors in simulation when the pivot hits the hard limits #96

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clrozeboom wants to merge 11 commits into from
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Stop the motors in simulation when the pivot hits the hard limits #96

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e25c067
Initialize Optional fields and fix getMechanismY logic
clrozeboom Jul 20, 2025
a786336
Merge branch 'Yet-Another-Software-Suite:master' into master
clrozeboom Jul 26, 2025
de91e7f
Merge branch 'master' of https://github.com/clrozeboom/YAMS
clrozeboom Sep 26, 2025
8db8a4c
Merge branch 'master' of https://github.com/clrozeboom/YAMS
clrozeboom Oct 7, 2025
cbff0bb
Merge branch 'Yet-Another-Software-Suite:master' into master
clrozeboom Oct 12, 2025
c87dec9
Add shooter speedometer simulation and sysId routine
clrozeboom Oct 12, 2025
98f37b7
Merge branch 'master' of https://github.com/clrozeboom/YAMS
clrozeboom Oct 25, 2025
4fceacf
Merge branch 'master' of https://github.com/clrozeboom/YAMS
clrozeboom Nov 18, 2025
0214cd5
Merge branch 'master' of https://github.com/clrozeboom/YAMS
clrozeboom Dec 1, 2025
653f64b
Merge branch 'Yet-Another-Software-Suite:master' into master
clrozeboom Feb 11, 2026
db78b96
Stop motor at hard limits in Pivot sim
clrozeboom Feb 11, 2026
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6 changes: 6 additions & 0 deletions yams/java/yams/mechanisms/positional/Pivot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -377,13 +377,19 @@ public void simIterate()
m_smc.getSimSupplier().get().starveUpdateSim();
if (m_config.getLowerHardLimit().isPresent() && m_dcmotorSim.get().getAngularVelocityRadPerSec() < 0 &&
m_smc.getMechanismPosition().lt(m_config.getLowerHardLimit().get()))
// Stop the motor from moving further in the direction of the hard limit
m_dcmotorSim.get().setAngularVelocity(0);
m_smc.setDutyCycle(0);
{
m_smc.setEncoderPosition(m_config.getLowerHardLimit().get());
}
if (m_config.getUpperHardLimit().isPresent() && m_dcmotorSim.get().getAngularVelocityRadPerSec() > 0 &&
m_smc.getMechanismPosition().gt(m_config.getUpperHardLimit().get()))
{
m_smc.setEncoderPosition(m_config.getUpperHardLimit().get());
// Stop the motor from moving further in the direction of the hard limit
m_dcmotorSim.get().setAngularVelocity(0);
m_smc.setDutyCycle(0);
}
RoboRioSim.setVInVoltage(BatterySim.calculateDefaultBatteryLoadedVoltage(m_dcmotorSim.get()
.getCurrentDrawAmps()));
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