Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-23 01:21:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Reorganize LinearSystem factories (#8468)

Browse Source
This commit is contained in:
Tyler Veness
2026-01-12 19:09:35 -08:00
committed by GitHub
parent 89d0759ef2
commit 00fa8361dd
108 changed files with 1808 additions and 2138 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
wpilibjExamples/src/main/java/org/wpilib/examples/armsimulation/subsystems/Arm.java
View File

@@ -8,7 +8,7 @@ import org.wpilib.examples.armsimulation.Constants;
import org.wpilib.hardware.motor.PWMSparkMax;
import org.wpilib.hardware.rotation.Encoder;
import org.wpilib.math.controller.PIDController;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.math.system.DCMotor;
import org.wpilib.math.util.Units;
import org.wpilib.simulation.BatterySim;
import org.wpilib.simulation.EncoderSim;

6
wpilibjExamples/src/main/java/org/wpilib/examples/differentialdriveposeestimator/Drivetrain.java
View File

@@ -21,9 +21,9 @@ import org.wpilib.math.kinematics.DifferentialDriveKinematics;
import org.wpilib.math.kinematics.DifferentialDriveWheelSpeeds;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.numbers.N2;
import org.wpilib.math.system.DCMotor;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.math.system.plant.LinearSystemId;
import org.wpilib.math.system.Models;
import org.wpilib.math.util.ComputerVisionUtil;
import org.wpilib.math.util.Units;
import org.wpilib.networktables.DoubleArrayEntry;
@@ -93,7 +93,7 @@ public class Drivetrain {
private final EncoderSim m_leftEncoderSim = new EncoderSim(m_leftEncoder);
private final EncoderSim m_rightEncoderSim = new EncoderSim(m_rightEncoder);
private final LinearSystem<N2, N2, N2> m_drivetrainSystem =
LinearSystemId.identifyDrivetrainSystem(1.98, 0.2, 1.5, 0.3);
Models.differentialDriveFromSysId(1.98, 0.2, 1.5, 0.3);
private final DifferentialDrivetrainSim m_drivetrainSimulator =
new DifferentialDrivetrainSim(
m_drivetrainSystem, DCMotor.getCIM(2), 8, kTrackwidth, kWheelRadius, null);

2
wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialsimulation/subsystems/Elevator.java
View File

@@ -9,7 +9,7 @@ import org.wpilib.hardware.motor.PWMSparkMax;
import org.wpilib.hardware.rotation.Encoder;
import org.wpilib.math.controller.ElevatorFeedforward;
import org.wpilib.math.controller.PIDController;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.math.system.DCMotor;
import org.wpilib.math.trajectory.ExponentialProfile;
import org.wpilib.math.util.Units;
import org.wpilib.simulation.BatterySim;

2
wpilibjExamples/src/main/java/org/wpilib/examples/elevatorsimulation/subsystems/Elevator.java
View File

@@ -9,7 +9,7 @@ import org.wpilib.hardware.motor.PWMSparkMax;
import org.wpilib.hardware.rotation.Encoder;
import org.wpilib.math.controller.ElevatorFeedforward;
import org.wpilib.math.controller.ProfiledPIDController;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.math.system.DCMotor;
import org.wpilib.math.trajectory.TrapezoidProfile;
import org.wpilib.simulation.BatterySim;
import org.wpilib.simulation.ElevatorSim;

6
wpilibjExamples/src/main/java/org/wpilib/examples/flywheelbangbangcontroller/Robot.java
View File

@@ -11,9 +11,9 @@ import org.wpilib.hardware.rotation.Encoder;
import org.wpilib.math.controller.BangBangController;
import org.wpilib.math.controller.SimpleMotorFeedforward;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.system.DCMotor;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.math.system.plant.LinearSystemId;
import org.wpilib.math.system.Models;
import org.wpilib.math.util.Units;
import org.wpilib.simulation.EncoderSim;
import org.wpilib.simulation.FlywheelSim;
@@ -60,7 +60,7 @@ public class Robot extends TimedRobot {
private final DCMotor m_gearbox = DCMotor.getNEO(1);
private final LinearSystem<N1, N1, N1> m_plant =
LinearSystemId.createFlywheelSystem(m_gearbox, kFlywheelGearing, kFlywheelMomentOfInertia);
Models.flywheelFromPhysicalConstants(m_gearbox, kFlywheelGearing, kFlywheelMomentOfInertia);
private final FlywheelSim m_flywheelSim = new FlywheelSim(m_plant, m_gearbox);
private final EncoderSim m_encoderSim = new EncoderSim(m_encoder);

6
wpilibjExamples/src/main/java/org/wpilib/examples/simpledifferentialdrivesimulation/Drivetrain.java
View File

@@ -15,9 +15,9 @@ import org.wpilib.math.kinematics.DifferentialDriveKinematics;
import org.wpilib.math.kinematics.DifferentialDriveOdometry;
import org.wpilib.math.kinematics.DifferentialDriveWheelSpeeds;
import org.wpilib.math.numbers.N2;
import org.wpilib.math.system.DCMotor;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.math.system.plant.LinearSystemId;
import org.wpilib.math.system.Models;
import org.wpilib.simulation.DifferentialDrivetrainSim;
import org.wpilib.simulation.EncoderSim;
import org.wpilib.smartdashboard.Field2d;
@@ -62,7 +62,7 @@ public class Drivetrain {
private final EncoderSim m_rightEncoderSim = new EncoderSim(m_rightEncoder);
private final Field2d m_fieldSim = new Field2d();
private final LinearSystem<N2, N2, N2> m_drivetrainSystem =
LinearSystemId.identifyDrivetrainSystem(1.98, 0.2, 1.5, 0.3);
Models.differentialDriveFromSysId(1.98, 0.2, 1.5, 0.3);
private final DifferentialDrivetrainSim m_drivetrainSimulator =
new DifferentialDrivetrainSim(
m_drivetrainSystem, DCMotor.getCIM(2), 8, kTrackwidth, kWheelRadius, null);

6
wpilibjExamples/src/main/java/org/wpilib/examples/statespacearm/Robot.java
View File

@@ -13,10 +13,10 @@ import org.wpilib.math.estimator.KalmanFilter;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.numbers.N2;
import org.wpilib.math.system.DCMotor;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.system.LinearSystemLoop;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.math.system.plant.LinearSystemId;
import org.wpilib.math.system.Models;
import org.wpilib.math.trajectory.TrapezoidProfile;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.Units;
@@ -53,7 +53,7 @@ public class Robot extends TimedRobot {
// Inputs (what we can "put in"): [voltage], in volts.
// Outputs (what we can measure): [position], in radians.
private final LinearSystem<N2, N1, N2> m_armPlant =
LinearSystemId.createSingleJointedArmSystem(DCMotor.getNEO(2), kArmMOI, kArmGearing);
Models.singleJointedArmFromPhysicalConstants(DCMotor.getNEO(2), kArmMOI, kArmGearing);
// The observer fuses our encoder data and voltage inputs to reject noise.
@SuppressWarnings("unchecked")

6
wpilibjExamples/src/main/java/org/wpilib/examples/statespaceelevator/Robot.java
View File

@@ -13,10 +13,10 @@ import org.wpilib.math.estimator.KalmanFilter;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.numbers.N2;
import org.wpilib.math.system.DCMotor;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.system.LinearSystemLoop;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.math.system.plant.LinearSystemId;
import org.wpilib.math.system.Models;
import org.wpilib.math.trajectory.TrapezoidProfile;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.Units;
@@ -58,7 +58,7 @@ public class Robot extends TimedRobot {
This elevator is driven by two NEO motors.
*/
private final LinearSystem<N2, N1, N2> m_elevatorPlant =
LinearSystemId.createElevatorSystem(
Models.elevatorFromPhysicalConstants(
DCMotor.getNEO(2), kCarriageMass, kDrumRadius, kElevatorGearing);
// The observer fuses our encoder data and voltage inputs to reject noise.

6
wpilibjExamples/src/main/java/org/wpilib/examples/statespaceflywheel/Robot.java
View File

@@ -12,10 +12,10 @@ import org.wpilib.math.controller.LinearQuadraticRegulator;
import org.wpilib.math.estimator.KalmanFilter;
import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.system.DCMotor;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.system.LinearSystemLoop;
import org.wpilib.math.system.plant.DCMotor;
import org.wpilib.math.system.plant.LinearSystemId;
import org.wpilib.math.system.Models;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.Units;
@@ -42,7 +42,7 @@ public class Robot extends TimedRobot {
// Inputs (what we can "put in"): [voltage], in volts.
// Outputs (what we can measure): [velocity], in radians per second.
private final LinearSystem<N1, N1, N1> m_flywheelPlant =
LinearSystemId.createFlywheelSystem(
Models.flywheelFromPhysicalConstants(
DCMotor.getNEO(2), kFlywheelMomentOfInertia, kFlywheelGearing);
// The observer fuses our encoder data and voltage inputs to reject noise.

4
wpilibjExamples/src/main/java/org/wpilib/examples/statespaceflywheelsysid/Robot.java
View File

@@ -14,7 +14,7 @@ import org.wpilib.math.linalg.VecBuilder;
import org.wpilib.math.numbers.N1;
import org.wpilib.math.system.LinearSystem;
import org.wpilib.math.system.LinearSystemLoop;
import org.wpilib.math.system.plant.LinearSystemId;
import org.wpilib.math.system.Models;
import org.wpilib.math.util.Nat;
import org.wpilib.math.util.Units;
@@ -43,7 +43,7 @@ public class Robot extends TimedRobot {
//
// The Kv and Ka constants are found using the FRC Characterization toolsuite.
private final LinearSystem<N1, N1, N1> m_flywheelPlant =
LinearSystemId.identifyVelocitySystem(kFlywheelKv, kFlywheelKa);
Models.flywheelFromSysId(kFlywheelKv, kFlywheelKa);
// The observer fuses our encoder data and voltage inputs to reject noise.
private final KalmanFilter<N1, N1, N1> m_observer =