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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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20
wpilibc/src/main/native/cpp/simulation/FlywheelSim.cpp
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@@ -15,27 +15,31 @@ using namespace frc;
using namespace frc::sim;
FlywheelSim::FlywheelSim(const LinearSystem<1, 1, 1>& plant,
const DCMotor& gearbox, double gearing, bool addNoise,
const DCMotor& gearbox, double gearing,
const std::array<double, 1>& measurementStdDevs)
: LinearSystemSim<1, 1, 1>(plant, addNoise, measurementStdDevs),
m_motor(gearbox),
: LinearSystemSim<1, 1, 1>(plant, measurementStdDevs),
m_gearbox(gearbox),
m_gearing(gearing) {}
FlywheelSim::FlywheelSim(const DCMotor& gearbox, double gearing,
units::kilogram_square_meter_t moi, bool addNoise,
units::kilogram_square_meter_t moi,
const std::array<double, 1>& measurementStdDevs)
: FlywheelSim(LinearSystemId::FlywheelSystem(gearbox, moi, gearing),
gearbox, gearing, addNoise, measurementStdDevs) {}
gearbox, gearing, measurementStdDevs) {}
units::radians_per_second_t FlywheelSim::GetAngularVelocity() const {
return units::radians_per_second_t{Y(0)};
return units::radians_per_second_t{GetOutput(0)};
}
units::ampere_t FlywheelSim::GetCurrentDraw() const {
// I = V / R - omega / (Kv * R)
// Reductions are greater than 1, so a reduction of 10:1 would mean the motor
// is spinning 10x faster than the output.
return m_motor.Current(GetAngularVelocity() * m_gearing,
units::volt_t{m_u(0)}) *
return m_gearbox.Current(GetAngularVelocity() * m_gearing,
units::volt_t{m_u(0)}) *
wpi::sgn(m_u(0));
}
void FlywheelSim::SetInputVoltage(units::volt_t voltage) {
SetInput(frc::MakeMatrix<1, 1>(voltage.to<double>()));
}