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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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43
wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
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@@ -19,38 +19,28 @@ using namespace frc;
using namespace frc::sim;
SingleJointedArmSim::SingleJointedArmSim(
const LinearSystem<2, 1, 1>& system, const DCMotor motor, double G,
units::kilogram_t mass, units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, bool addNoise,
const std::array<double, 1>& measurementStdDevs, bool simulateGravity)
: LinearSystemSim<2, 1, 1>(system, addNoise, measurementStdDevs),
const LinearSystem<2, 1, 1>& system, const DCMotor& gearbox, double gearing,
units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, units::kilogram_t mass, bool simulateGravity,
const std::array<double, 1>& measurementStdDevs)
: LinearSystemSim<2, 1, 1>(system, measurementStdDevs),
m_r(armLength),
m_minAngle(minAngle),
m_maxAngle(maxAngle),
m_mass(mass),
m_motor(motor),
m_gearing(G),
m_gearbox(gearbox),
m_gearing(gearing),
m_simulateGravity(simulateGravity) {}
SingleJointedArmSim::SingleJointedArmSim(
const DCMotor& motor, units::kilogram_square_meter_t J, double G,
units::kilogram_t mass, units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, bool addNoise,
const std::array<double, 1>& measurementStdDevs, bool simulateGravity)
: SingleJointedArmSim(LinearSystemId::SingleJointedArmSystem(motor, J, G),
motor, G, mass, armLength, minAngle, maxAngle,
addNoise, measurementStdDevs, simulateGravity) {}
SingleJointedArmSim::SingleJointedArmSim(
const DCMotor& motor, double G, units::kilogram_t mass,
const DCMotor& gearbox, double gearing, units::kilogram_square_meter_t moi,
units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, bool addNoise,
const std::array<double, 1>& measurementStdDevs, bool simulateGravity)
units::radian_t maxAngle, units::kilogram_t mass, bool simulateGravity,
const std::array<double, 1>& measurementStdDevs)
: SingleJointedArmSim(
LinearSystemId::SingleJointedArmSystem(
motor, 1.0 / 3.0 * mass * armLength * armLength, G),
motor, G, mass, armLength, minAngle, maxAngle, addNoise,
measurementStdDevs, simulateGravity) {}
LinearSystemId::SingleJointedArmSystem(gearbox, moi, gearing),
gearbox, gearing, armLength, minAngle, maxAngle, mass,
simulateGravity, measurementStdDevs) {}
bool SingleJointedArmSim::HasHitLowerLimit(
const Eigen::Matrix<double, 2, 1>& x) const {
@@ -74,10 +64,14 @@ units::ampere_t SingleJointedArmSim::GetCurrentDraw() const {
// Reductions are greater than 1, so a reduction of 10:1 would mean the motor
// is spinning 10x faster than the output
units::radians_per_second_t motorVelocity{m_x(1) * m_gearing};
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 SingleJointedArmSim::SetInputVoltage(units::volt_t voltage) {
SetInput(frc::MakeMatrix<1, 1>(voltage.to<double>()));
}
Eigen::Matrix<double, 2, 1> SingleJointedArmSim::UpdateX(
const Eigen::Matrix<double, 2, 1>& currentXhat,
const Eigen::Matrix<double, 1, 1>& u, units::second_t dt) {
@@ -100,7 +94,6 @@ Eigen::Matrix<double, 2, 1> SingleJointedArmSim::UpdateX(
(m_mass * m_r * m_r) * std::cos(x(0)))
.template to<double>());
}
return xdot;
},
currentXhat, u, dt);