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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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102
wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
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@@ -27,69 +27,43 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
* Creates a simulated arm mechanism.
*
* @param system The system representing this arm.
* @param motor The type and number of motors on the arm gearbox.
* @param G The gear ratio of the arm (numbers greater than 1
* @param gearbox The type and number of motors on the arm gearbox.
* @param gearing The gear ratio of the arm (numbers greater than 1
* represent reductions).
* @param mass The mass of the arm.
* @param armLength The length of the arm.
* @param minAngle The minimum allowed angle for the arm.
* @param maxAngle The maximum allowed angle for the arm.
* @param addNoise Whether the sim should automatically add some
* encoder noise.
* @param measurementStdDevs The standard deviation of the measurement noise.
* @param simulateGravity If the affects of gravity should be simulated.
* @param minAngle The minimum angle that the arm is capable of.
* @param maxAngle The maximum angle that the arm is capable of.
* @param mass The mass of the arm.
* @param measurementStdDevs The standard deviations of the measurements.
* @param simulateGravity Whether gravity should be simulated or not.
*/
SingleJointedArmSim(const LinearSystem<2, 1, 1>& system, const DCMotor motor,
double G, units::kilogram_t mass,
SingleJointedArmSim(const LinearSystem<2, 1, 1>& system,
const DCMotor& gearbox, double gearing,
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 = {0.0});
/**
* Creates a simulated arm mechanism.
*
* @param motor The type and number of motors on the arm gearbox.
* @param J The moment of inertia of the arm.
* @param G The gear ratio of the arm (numbers greater than 1
* @param gearbox The type and number of motors on the arm gearbox.
* @param gearing The gear ratio of the arm (numbers greater than 1
* represent reductions).
* @param mass The mass of the arm.
* @param moi The moment of inertia of the arm. This can be
* calculated from CAD software.
* @param armLength The length of the arm.
* @param minAngle The minimum allowed angle for the arm.
* @param maxAngle The maximum allowed angle for the arm.
* @param addNoise Whether the sim should automatically add some
* encoder noise.
* @param measurementStdDevs The standard deviation of the measurement noise.
* @param simulateGravity If the affects of gravity should be simulated.
*/
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);
/**
* Creates a simulated arm mechanism.
*
* @param motor The type and number of motors on the arm gearbox.
* @param G The gear ratio of the arm (numbers greater than 1
* represent reductions).
* @param minAngle The minimum angle that the arm is capable of.
* @param maxAngle The maximum angle that the arm is capable of.
* @param mass The mass of the arm.
* @param armLength The length of the arm.
* @param minAngle The minimum allowed angle for the arm. This is
* measured from horizontal, with straight out being 0.
* @param maxAngle The maximum allowed angle for the arm. This is
* measured from horizontal, with straight out being 0.
* @param addNoise Whether the sim should automatically add some
* encoder noise.
* @param measurementStdDevs The standard deviation of the measurement noise.
* @param simulateGravity If the affects of gravity should be simulated.
* @param simulateGravity Whether gravity should be simulated or not.
*/
SingleJointedArmSim(const DCMotor& motor, double G, units::kilogram_t mass,
SingleJointedArmSim(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 = {0.0});
/**
* Returns whether the arm has hit the lower limit.
@@ -121,8 +95,34 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
*/
units::radians_per_second_t GetVelocity() const;
/**
* Returns the arm current draw.
*
* @return The arm current draw.
*/
units::ampere_t GetCurrentDraw() const override;
/**
* Sets the input voltage for the elevator.
*
* @param voltage The input voltage.
*/
void SetInputVoltage(units::volt_t voltage);
/**
* Calculates a rough estimate of the moment of inertia of an arm given its
* length and mass.
*
* @param length The length of the arm.
* @param mass The mass of the arm.
*
* @return The calculated moment of inertia.
*/
static constexpr units::kilogram_square_meter_t EstimateMOI(
units::meter_t length, units::kilogram_t mass) {
return 1.0 / 3.0 * mass * length * length;
}
protected:
/**
* Updates the state estimate of the arm.
@@ -140,7 +140,7 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
units::radian_t m_minAngle;
units::radian_t m_maxAngle;
units::kilogram_t m_mass;
const DCMotor m_motor;
const DCMotor m_gearbox;
double m_gearing;
bool m_simulateGravity;
};