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[wpilib] Clean up physics simulation class APIs (#2763)

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This commit is contained in:
Prateek Machiraju
2020-10-16 00:00:45 -04:00
committed by GitHub
parent 8f3e5794b3
commit 061432147d
19 changed files with 746 additions and 483 deletions
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39
wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
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@@ -16,15 +16,27 @@
using namespace frc;
using namespace frc::sim;
ElevatorSim::ElevatorSim(const DCMotor& gearbox, units::kilogram_t carriageMass,
double gearing, units::meter_t drumRadius,
units::meter_t minHeight, units::meter_t maxHeight,
bool addNoise,
const std::array<double, 1>& m_measurementStdDevs)
ElevatorSim::ElevatorSim(const LinearSystem<2, 1, 1>& plant,
const DCMotor& gearbox, double gearing,
units::meter_t drumRadius, units::meter_t minHeight,
units::meter_t maxHeight,
const std::array<double, 1>& measurementStdDevs)
: LinearSystemSim(plant, measurementStdDevs),
m_gearbox(gearbox),
m_drumRadius(drumRadius),
m_minHeight(minHeight),
m_maxHeight(maxHeight),
m_gearing(gearing) {}
ElevatorSim::ElevatorSim(const DCMotor& gearbox, double gearing,
units::kilogram_t carriageMass,
units::meter_t drumRadius, units::meter_t minHeight,
units::meter_t maxHeight,
const std::array<double, 1>& measurementStdDevs)
: LinearSystemSim(LinearSystemId::ElevatorSystem(gearbox, carriageMass,
drumRadius, gearing),
addNoise, m_measurementStdDevs),
m_motor(gearbox),
measurementStdDevs),
m_gearbox(gearbox),
m_drumRadius(drumRadius),
m_minHeight(minHeight),
m_maxHeight(maxHeight),
@@ -38,7 +50,9 @@ bool ElevatorSim::HasHitUpperLimit(const Eigen::Matrix<double, 2, 1>& x) const {
return x(0) > m_maxHeight.to<double>();
}
units::meter_t ElevatorSim::GetPosition() const { return units::meter_t{Y(0)}; }
units::meter_t ElevatorSim::GetPosition() const {
return units::meter_t{m_x(0)};
}
units::meters_per_second_t ElevatorSim::GetVelocity() const {
return units::meters_per_second_t{m_x(1)};
@@ -55,10 +69,14 @@ units::ampere_t ElevatorSim::GetCurrentDraw() const {
velocity / m_drumRadius * m_gearing * 1_rad;
// Perform calculation and return.
return m_motor.Current(motorVelocity, units::volt_t{m_u(0)}) *
return m_gearbox.Current(motorVelocity, units::volt_t{m_u(0)}) *
wpi::sgn(m_u(0));
}
void ElevatorSim::SetInputVoltage(units::volt_t voltage) {
SetInput(frc::MakeMatrix<1, 1>(voltage.to<double>()));
}
Eigen::Matrix<double, 2, 1> ElevatorSim::UpdateX(
const Eigen::Matrix<double, 2, 1>& currentXhat,
const Eigen::Matrix<double, 1, 1>& u, units::second_t dt) {
@@ -72,7 +90,8 @@ Eigen::Matrix<double, 2, 1> ElevatorSim::UpdateX(
// Check for collision after updating x-hat.
if (HasHitLowerLimit(updatedXhat)) {
return MakeMatrix<2, 1>(m_minHeight.to<double>(), 0.0);
} else if (HasHitUpperLimit(updatedXhat)) {
}
if (HasHitUpperLimit(updatedXhat)) {
return MakeMatrix<2, 1>(m_maxHeight.to<double>(), 0.0);
}
return updatedXhat;