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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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53
wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
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@@ -25,24 +25,40 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
/**
* Constructs a simulated elevator mechanism.
*
* @param gearbox The type of and number of motors in your elevator
* gearbox.
* @param carriageMass The mass of the elevator carriage.
* @param gearing The gearing of the elevator (numbers greater than
* 1 represent reductions).
* @param drumRadius The radius of the drum that your cable is wrapped
* around.
* @param plant The linear system that represents the elevator.
* @param gearbox The type of and number of motors in your
* elevator gearbox.
* @param gearing The gearing of the elevator (numbers greater
* than 1 represent reductions).
* @param drumRadius The radius of the drum that your cable is
* wrapped around.
* @param minHeight The minimum allowed height of the elevator.
* @param maxHeight The maximum allowed height of the elevator.
* @param addNoise Whether the sim should automatically add some
* encoder noise.
* @param measurementStdDevs The standard deviation of the measurement noise.
* @param measurementStdDevs The standard deviation of the measurements.
*/
ElevatorSim(const DCMotor& gearbox, units::kilogram_t carriageMass,
ElevatorSim(const LinearSystem<2, 1, 1>& plant, const DCMotor& gearbox,
double gearing, units::meter_t drumRadius,
units::meter_t minHeight, units::meter_t maxHeight,
bool addNoise = false,
const std::array<double, 1>& m_measurementStdDevs = {0.0});
const std::array<double, 1>& measurementStdDevs = {0.0});
/**
* Constructs a simulated elevator mechanism.
*
* @param gearbox The type of and number of motors in your
* elevator gearbox.
* @param gearing The gearing of the elevator (numbers greater
* than 1 represent reductions).
* @param carriageMass The mass of the elevator carriage.
* @param drumRadius The radius of the drum that your cable is
* wrapped around.
* @param minHeight The minimum allowed height of the elevator.
* @param maxHeight The maximum allowed height of the elevator.
* @param measurementStdDevs The standard deviation of the measurements.
*/
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 = {0.0});
/**
* Returns whether the elevator has hit the lower limit.
@@ -56,7 +72,7 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
* Returns whether the elevator has hit the upper limit.
*
* @param x The current elevator state.
* @return Whether the elevator has hit the uppwer limit.
* @return Whether the elevator has hit the upper limit.
*/
bool HasHitUpperLimit(const Eigen::Matrix<double, 2, 1>& x) const;
@@ -81,6 +97,13 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
*/
units::ampere_t GetCurrentDraw() const override;
/**
* Sets the input voltage for the elevator.
*
* @param voltage The input voltage.
*/
void SetInputVoltage(units::volt_t voltage);
protected:
/**
* Updates the state estimate of the elevator.
@@ -94,7 +117,7 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
const Eigen::Matrix<double, 1, 1>& u, units::second_t dt) override;
private:
DCMotor m_motor;
DCMotor m_gearbox;
units::meter_t m_drumRadius;
units::meter_t m_minHeight;
units::meter_t m_maxHeight;