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https://github.com/wpilibsuite/allwpilib
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[wpimath] Reorganize LinearSystem factories (#8468)
This commit is contained in:
Tyler Veness
@@ -7,8 +7,8 @@ package org.wpilib.simulation;
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import org.wpilib.math.linalg.VecBuilder;
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import org.wpilib.math.numbers.N1;
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import org.wpilib.math.numbers.N2;
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import org.wpilib.math.system.DCMotor;
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import org.wpilib.math.system.LinearSystem;
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import org.wpilib.math.system.plant.DCMotor;
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import org.wpilib.system.RobotController;
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/** Represents a simulated DC motor mechanism. */
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@@ -26,10 +26,9 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
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* Creates a simulated DC motor mechanism.
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*
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* @param plant The linear system representing the DC motor. This system can be created with
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* {@link org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(DCMotor, double,
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* double)} or {@link org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(double,
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* double)}. If {@link org.wpilib.math.system.plant.LinearSystemId#createDCMotorSystem(double,
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* double)} is used, the distance unit must be radians.
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* {@link org.wpilib.math.system.Models#singleJointedArmFromPhysicalConstants(DCMotor, double,
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* double)} or {@link org.wpilib.math.system.Models#singleJointedArmFromSysId(double,
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* double)}.
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* @param gearbox The type of and number of motors in the DC motor gearbox.
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* @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
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* noise is desired. If present must have 2 elements. The first element is for position. The
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@@ -12,10 +12,10 @@ import org.wpilib.math.numbers.N1;
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import org.wpilib.math.numbers.N2;
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import org.wpilib.math.numbers.N7;
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import org.wpilib.math.random.Normal;
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import org.wpilib.math.system.DCMotor;
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import org.wpilib.math.system.LinearSystem;
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import org.wpilib.math.system.Models;
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import org.wpilib.math.system.NumericalIntegration;
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import org.wpilib.math.system.plant.DCMotor;
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import org.wpilib.math.system.plant.LinearSystemId;
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import org.wpilib.math.util.Nat;
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import org.wpilib.math.util.StateSpaceUtil;
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import org.wpilib.math.util.Units;
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@@ -77,7 +77,7 @@ public class DifferentialDrivetrainSim {
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double trackwidth,
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Matrix<N7, N1> measurementStdDevs) {
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this(
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LinearSystemId.createDrivetrainVelocitySystem(
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Models.differentialDriveFromPhysicalConstants(
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driveMotor, mass, wheelRadius, trackwidth / 2.0, j, gearing),
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driveMotor,
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gearing,
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@@ -91,10 +91,9 @@ public class DifferentialDrivetrainSim {
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*
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* @param plant The {@link LinearSystem} representing the robot's drivetrain. This system can be
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* created with {@link
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* org.wpilib.math.system.plant.LinearSystemId#createDrivetrainVelocitySystem(DCMotor, double,
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* org.wpilib.math.system.Models#differentialDriveFromPhysicalConstants(DCMotor, double,
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* double, double, double, double)} or {@link
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* org.wpilib.math.system.plant.LinearSystemId#identifyDrivetrainSystem(double, double,
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* double, double)}.
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* org.wpilib.math.system.Models#differentialDriveFromSysId(double, double, double, double)}.
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* @param driveMotor A {@link DCMotor} representing the drivetrain.
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* @param gearing The gearingRatio ratio of the robot, as output over input. This must be the same
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* ratio as the ratio used to identify or create the drivetrainPlant.
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@@ -8,10 +8,10 @@ import org.wpilib.math.linalg.Matrix;
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import org.wpilib.math.linalg.VecBuilder;
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import org.wpilib.math.numbers.N1;
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import org.wpilib.math.numbers.N2;
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import org.wpilib.math.system.DCMotor;
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import org.wpilib.math.system.LinearSystem;
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import org.wpilib.math.system.Models;
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import org.wpilib.math.system.NumericalIntegration;
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import org.wpilib.math.system.plant.DCMotor;
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import org.wpilib.math.system.plant.LinearSystemId;
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import org.wpilib.system.RobotController;
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/** Represents a simulated elevator mechanism. */
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@@ -32,8 +32,8 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
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* Creates a simulated elevator mechanism.
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*
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* @param plant The linear system that represents the elevator. This system can be created with
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* {@link org.wpilib.math.system.plant.LinearSystemId#createElevatorSystem(DCMotor, double,
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* double, double)}.
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* {@link org.wpilib.math.system.Models#elevatorFromPhysicalConstants(DCMotor, double, double,
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* double)}.
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* @param gearbox The type of and number of motors in the elevator gearbox.
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* @param minHeight The min allowable height of the elevator in meters.
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* @param maxHeight The max allowable height of the elevator in meters.
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@@ -83,7 +83,7 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
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double startingHeight,
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double... measurementStdDevs) {
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this(
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LinearSystemId.identifyPositionSystem(kV, kA),
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Models.elevatorFromSysId(kV, kA),
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gearbox,
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minHeight,
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maxHeight,
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@@ -117,7 +117,7 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N2> {
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double startingHeight,
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double... measurementStdDevs) {
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this(
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LinearSystemId.createElevatorSystem(gearbox, carriageMass, drumRadius, gearing),
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Models.elevatorFromPhysicalConstants(gearbox, carriageMass, drumRadius, gearing),
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gearbox,
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minHeight,
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maxHeight,
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@@ -6,9 +6,9 @@ package org.wpilib.simulation;
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import org.wpilib.math.linalg.VecBuilder;
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import org.wpilib.math.numbers.N1;
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import org.wpilib.math.system.DCMotor;
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import org.wpilib.math.system.LinearSystem;
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import org.wpilib.math.system.plant.DCMotor;
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import org.wpilib.math.system.plant.LinearSystemId;
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import org.wpilib.math.system.Models;
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import org.wpilib.system.RobotController;
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/** Represents a simulated flywheel mechanism. */
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@@ -26,9 +26,8 @@ public class FlywheelSim extends LinearSystemSim<N1, N1, N1> {
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* Creates a simulated flywheel mechanism.
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*
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* @param plant The linear system that represents the flywheel. Use either {@link
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* LinearSystemId#createFlywheelSystem(DCMotor, double, double)} if using physical constants
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* or {@link LinearSystemId#identifyVelocitySystem(double, double)} if using system
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* characterization.
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* Models#flywheelFromPhysicalConstants(DCMotor, double, double)} if using physical constants
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* or {@link Models#flywheelFromSysId(double, double)} if using system characterization.
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* @param gearbox The type of and number of motors in the flywheel gearbox.
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* @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
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* noise is desired. If present must have 1 element for velocity.
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@@ -8,10 +8,10 @@ import org.wpilib.math.linalg.Matrix;
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import org.wpilib.math.linalg.VecBuilder;
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import org.wpilib.math.numbers.N1;
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import org.wpilib.math.numbers.N2;
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import org.wpilib.math.system.DCMotor;
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import org.wpilib.math.system.LinearSystem;
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import org.wpilib.math.system.Models;
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import org.wpilib.math.system.NumericalIntegration;
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import org.wpilib.math.system.plant.DCMotor;
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import org.wpilib.math.system.plant.LinearSystemId;
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import org.wpilib.system.RobotController;
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/** Represents a simulated single jointed arm mechanism. */
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@@ -38,7 +38,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
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* Creates a simulated arm mechanism.
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*
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* @param plant The linear system that represents the arm. This system can be created with {@link
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* org.wpilib.math.system.plant.LinearSystemId#createSingleJointedArmSystem(DCMotor, double,
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* org.wpilib.math.system.Models#singleJointedArmFromPhysicalConstants(DCMotor, double,
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* double)}.
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* @param gearbox The type of and number of motors in the arm gearbox.
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* @param gearing The gearing of the arm (numbers greater than 1 represent reductions).
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@@ -97,7 +97,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N2> {
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double startingAngleRads,
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double... measurementStdDevs) {
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this(
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LinearSystemId.createSingleJointedArmSystem(gearbox, j, gearing),
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Models.singleJointedArmFromPhysicalConstants(gearbox, j, gearing),
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gearbox,
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gearing,
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armLength,
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