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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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9
wpilibc/src/main/native/include/wpi/simulation/BatterySim.hpp
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@@ -31,9 +31,9 @@ class BatterySim {
* @param currents The currents drawn from the battery.
* @return The battery's voltage under load.
*/
static wpi::units::volt_t Calculate(wpi::units::volt_t nominalVoltage,
wpi::units::ohm_t resistance,
std::span<const wpi::units::ampere_t> currents) {
static wpi::units::volt_t Calculate(
wpi::units::volt_t nominalVoltage, wpi::units::ohm_t resistance,
std::span<const wpi::units::ampere_t> currents) {
return std::max(0_V, nominalVoltage - std::accumulate(currents.begin(),
currents.end(), 0_A) *
resistance);
@@ -69,7 +69,8 @@ class BatterySim {
* @param currents The currents drawn from the battery.
* @return The battery's voltage under load.
*/
static wpi::units::volt_t Calculate(std::span<const wpi::units::ampere_t> currents) {
static wpi::units::volt_t Calculate(
std::span<const wpi::units::ampere_t> currents) {
return Calculate(12_V, 0.02_Ohm, currents);
}

7
wpilibc/src/main/native/include/wpi/simulation/DCMotorSim.hpp
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@@ -24,13 +24,14 @@ class DCMotorSim : public LinearSystemSim<2, 1, 2> {
*
* @param plant The linear system representing the DC motor. This
* system can be created with wpi::math::LinearSystemId::DCMotorSystem(). If
* wpi::math::LinearSystemId::DCMotorSystem(kV, kA) is used, the distance unit must be
* radians.
* wpi::math::LinearSystemId::DCMotorSystem(kV, kA) is used, the distance unit
* must be radians.
* @param gearbox The type of and number of motors in the DC motor
* gearbox.
* @param measurementStdDevs The standard deviation of the measurement noise.
*/
DCMotorSim(const wpi::math::LinearSystem<2, 1, 2>& plant, const wpi::math::DCMotor& gearbox,
DCMotorSim(const wpi::math::LinearSystem<2, 1, 2>& plant,
const wpi::math::DCMotor& gearbox,
const std::array<double, 2>& measurementStdDevs = {0.0, 0.0});
using LinearSystemSim::SetState;

50
wpilibc/src/main/native/include/wpi/simulation/DifferentialDrivetrainSim.hpp
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@@ -20,12 +20,13 @@ class DifferentialDrivetrainSim {
/**
* Creates a simulated differential drivetrain.
*
* @param plant The wpi::math::LinearSystem representing the robot's drivetrain. This
* system can be created with
* @param plant The wpi::math::LinearSystem representing the robot's
* drivetrain. This system can be created with
* wpi::math::LinearSystemId::DrivetrainVelocitySystem() or
* wpi::math::LinearSystemId::IdentifyDrivetrainSystem().
* @param trackwidth The robot's trackwidth.
* @param driveMotor A wpi::math::DCMotor representing the left side of the drivetrain.
* @param driveMotor A wpi::math::DCMotor representing the left side of the
* drivetrain.
* @param gearingRatio The gearingRatio ratio of the left side, as output over
* input. This must be the same ratio as the ratio used to
* identify or create the plant.
@@ -41,13 +42,15 @@ class DifferentialDrivetrainSim {
*/
DifferentialDrivetrainSim(
wpi::math::LinearSystem<2, 2, 2> plant, wpi::units::meter_t trackwidth,
wpi::math::DCMotor driveMotor, double gearingRatio, wpi::units::meter_t wheelRadius,
wpi::math::DCMotor driveMotor, double gearingRatio,
wpi::units::meter_t wheelRadius,
const std::array<double, 7>& measurementStdDevs = {});
/**
* Creates a simulated differential drivetrain.
*
* @param driveMotor A wpi::math::DCMotor representing the left side of the drivetrain.
* @param driveMotor A wpi::math::DCMotor representing the left side of the
* drivetrain.
* @param gearing The gearing on the drive between motor and wheel, as
* output over input. This must be the same ratio as the
* ratio used to identify or create the plant.
@@ -67,9 +70,9 @@ class DifferentialDrivetrainSim {
* starting point.
*/
DifferentialDrivetrainSim(
wpi::math::DCMotor driveMotor, double gearing, wpi::units::kilogram_square_meter_t J,
wpi::units::kilogram_t mass, wpi::units::meter_t wheelRadius,
wpi::units::meter_t trackwidth,
wpi::math::DCMotor driveMotor, double gearing,
wpi::units::kilogram_square_meter_t J, wpi::units::kilogram_t mass,
wpi::units::meter_t wheelRadius, wpi::units::meter_t trackwidth,
const std::array<double, 7>& measurementStdDevs = {});
/**
@@ -88,7 +91,8 @@ class DifferentialDrivetrainSim {
* @param leftVoltage The left voltage.
* @param rightVoltage The right voltage.
*/
void SetInputs(wpi::units::volt_t leftVoltage, wpi::units::volt_t rightVoltage);
void SetInputs(wpi::units::volt_t leftVoltage,
wpi::units::volt_t rightVoltage);
/**
* Sets the gearing reduction on the drivetrain. This is commonly used for
@@ -101,8 +105,8 @@ class DifferentialDrivetrainSim {
/**
* Updates the simulation.
*
* @param dt The time that's passed since the last Update(wpi::units::second_t)
* call.
* @param dt The time that's passed since the last
* Update(wpi::units::second_t) call.
*/
void Update(wpi::units::second_t dt);
@@ -193,7 +197,8 @@ class DifferentialDrivetrainSim {
* @param u The input.
* @return The state derivative with respect to time.
*/
wpi::math::Vectord<7> Dynamics(const wpi::math::Vectord<7>& x, const Eigen::Vector2d& u);
wpi::math::Vectord<7> Dynamics(const wpi::math::Vectord<7>& x,
const Eigen::Vector2d& u);
class State {
public:
@@ -234,14 +239,17 @@ class DifferentialDrivetrainSim {
class KitbotMotor {
public:
/// One CIM motor per drive side.
static constexpr wpi::math::DCMotor SingleCIMPerSide = wpi::math::DCMotor::CIM(1);
static constexpr wpi::math::DCMotor SingleCIMPerSide =
wpi::math::DCMotor::CIM(1);
/// Two CIM motors per drive side.
static constexpr wpi::math::DCMotor DualCIMPerSide = wpi::math::DCMotor::CIM(2);
static constexpr wpi::math::DCMotor DualCIMPerSide =
wpi::math::DCMotor::CIM(2);
/// One Mini CIM motor per drive side.
static constexpr wpi::math::DCMotor SingleMiniCIMPerSide =
wpi::math::DCMotor::MiniCIM(1);
/// Two Mini CIM motors per drive side.
static constexpr wpi::math::DCMotor DualMiniCIMPerSide = wpi::math::DCMotor::MiniCIM(2);
static constexpr wpi::math::DCMotor DualMiniCIMPerSide =
wpi::math::DCMotor::MiniCIM(2);
/// One Falcon 500 motor per drive side.
static constexpr wpi::math::DCMotor SingleFalcon500PerSide =
wpi::math::DCMotor::Falcon500(1);
@@ -249,9 +257,11 @@ class DifferentialDrivetrainSim {
static constexpr wpi::math::DCMotor DualFalcon500PerSide =
wpi::math::DCMotor::Falcon500(2);
/// One NEO motor per drive side.
static constexpr wpi::math::DCMotor SingleNEOPerSide = wpi::math::DCMotor::NEO(1);
static constexpr wpi::math::DCMotor SingleNEOPerSide =
wpi::math::DCMotor::NEO(1);
/// Two NEO motors per drive side.
static constexpr wpi::math::DCMotor DualNEOPerSide = wpi::math::DCMotor::NEO(2);
static constexpr wpi::math::DCMotor DualNEOPerSide =
wpi::math::DCMotor::NEO(2);
};
/**
@@ -285,9 +295,9 @@ class DifferentialDrivetrainSim {
const std::array<double, 7>& measurementStdDevs = {}) {
// MOI estimation -- note that I = mr² for point masses
wpi::units::kilogram_square_meter_t batteryMoi = 12.5_lb * 10_in * 10_in;
wpi::units::kilogram_square_meter_t gearboxMoi = (2.8_lb + 2.0_lb) *
2 // CIM plus toughbox per side
* (26_in / 2) * (26_in / 2);
wpi::units::kilogram_square_meter_t gearboxMoi =
(2.8_lb + 2.0_lb) * 2 // CIM plus toughbox per side
* (26_in / 2) * (26_in / 2);
return DifferentialDrivetrainSim{
motor, gearing, batteryMoi + gearboxMoi, 60_lb,

29
wpilibc/src/main/native/include/wpi/simulation/ElevatorSim.hpp
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@@ -19,12 +19,13 @@ namespace wpi::sim {
class ElevatorSim : public LinearSystemSim<2, 1, 2> {
public:
template <typename Distance>
using Velocity_t = wpi::units::unit_t<
wpi::units::compound_unit<Distance, wpi::units::inverse<wpi::units::seconds>>>;
using Velocity_t = wpi::units::unit_t<wpi::units::compound_unit<
Distance, wpi::units::inverse<wpi::units::seconds>>>;
template <typename Distance>
using Acceleration_t = wpi::units::unit_t<wpi::units::compound_unit<
wpi::units::compound_unit<Distance, wpi::units::inverse<wpi::units::seconds>>,
wpi::units::compound_unit<Distance,
wpi::units::inverse<wpi::units::seconds>>,
wpi::units::inverse<wpi::units::seconds>>>;
/**
@@ -41,9 +42,10 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
* @param startingHeight The starting height of the elevator.
* @param measurementStdDevs The standard deviation of the measurements.
*/
ElevatorSim(const wpi::math::LinearSystem<2, 1, 2>& plant, const wpi::math::DCMotor& gearbox,
wpi::units::meter_t minHeight, wpi::units::meter_t maxHeight,
bool simulateGravity, wpi::units::meter_t startingHeight,
ElevatorSim(const wpi::math::LinearSystem<2, 1, 2>& plant,
const wpi::math::DCMotor& gearbox, wpi::units::meter_t minHeight,
wpi::units::meter_t maxHeight, bool simulateGravity,
wpi::units::meter_t startingHeight,
const std::array<double, 2>& measurementStdDevs = {0.0, 0.0});
/**
@@ -63,9 +65,10 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
* @param measurementStdDevs The standard deviation of the measurements.
*/
ElevatorSim(const wpi::math::DCMotor& gearbox, double gearing,
wpi::units::kilogram_t carriageMass, wpi::units::meter_t drumRadius,
wpi::units::meter_t minHeight, wpi::units::meter_t maxHeight,
bool simulateGravity, wpi::units::meter_t startingHeight,
wpi::units::kilogram_t carriageMass,
wpi::units::meter_t drumRadius, wpi::units::meter_t minHeight,
wpi::units::meter_t maxHeight, bool simulateGravity,
wpi::units::meter_t startingHeight,
const std::array<double, 2>& measurementStdDevs = {0.0, 0.0});
/**
@@ -98,7 +101,8 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
* @param position The new position
* @param velocity The new velocity
*/
void SetState(wpi::units::meter_t position, wpi::units::meters_per_second_t velocity);
void SetState(wpi::units::meter_t position,
wpi::units::meters_per_second_t velocity);
/**
* Returns whether the elevator would hit the lower limit.
@@ -166,8 +170,9 @@ class ElevatorSim : public LinearSystemSim<2, 1, 2> {
* @param u The system inputs (voltage).
* @param dt The time difference between controller updates.
*/
wpi::math::Vectord<2> UpdateX(const wpi::math::Vectord<2>& currentXhat, const wpi::math::Vectord<1>& u,
wpi::units::second_t dt) override;
wpi::math::Vectord<2> UpdateX(const wpi::math::Vectord<2>& currentXhat,
const wpi::math::Vectord<1>& u,
wpi::units::second_t dt) override;
private:
wpi::math::DCMotor m_gearbox;

3
wpilibc/src/main/native/include/wpi/simulation/FlywheelSim.hpp
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@@ -29,7 +29,8 @@ class FlywheelSim : public LinearSystemSim<1, 1, 1> {
* gearbox.
* @param measurementStdDevs The standard deviation of the measurement noise.
*/
FlywheelSim(const wpi::math::LinearSystem<1, 1, 1>& plant, const wpi::math::DCMotor& gearbox,
FlywheelSim(const wpi::math::LinearSystem<1, 1, 1>& plant,
const wpi::math::DCMotor& gearbox,
const std::array<double, 1>& measurementStdDevs = {0.0});
using LinearSystemSim::SetState;

6
wpilibc/src/main/native/include/wpi/simulation/LinearSystemSim.hpp
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@@ -131,9 +131,9 @@ class LinearSystemSim {
* @param u The system inputs (usually voltage).
* @param dt The time difference between controller updates.
*/
virtual wpi::math::Vectord<States> UpdateX(const wpi::math::Vectord<States>& currentXhat,
const wpi::math::Vectord<Inputs>& u,
wpi::units::second_t dt) {
virtual wpi::math::Vectord<States> UpdateX(
const wpi::math::Vectord<States>& currentXhat,
const wpi::math::Vectord<Inputs>& u, wpi::units::second_t dt) {
return m_plant.CalculateX(currentXhat, u, dt);
}

24
wpilibc/src/main/native/include/wpi/simulation/SingleJointedArmSim.hpp
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@@ -37,7 +37,8 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
*/
SingleJointedArmSim(const wpi::math::LinearSystem<2, 1, 2>& system,
const wpi::math::DCMotor& gearbox, double gearing,
wpi::units::meter_t armLength, wpi::units::radian_t minAngle,
wpi::units::meter_t armLength,
wpi::units::radian_t minAngle,
wpi::units::radian_t maxAngle, bool simulateGravity,
wpi::units::radian_t startingAngle,
const std::array<double, 2>& measurementStdDevs = {0.0,
@@ -57,13 +58,12 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
* @param startingAngle The initial position of the arm.
* @param measurementStdDevs The standard deviation of the measurement noise.
*/
SingleJointedArmSim(const wpi::math::DCMotor& gearbox, double gearing,
wpi::units::kilogram_square_meter_t moi,
wpi::units::meter_t armLength, wpi::units::radian_t minAngle,
wpi::units::radian_t maxAngle, bool simulateGravity,
wpi::units::radian_t startingAngle,
const std::array<double, 2>& measurementStdDevs = {0.0,
0.0});
SingleJointedArmSim(
const wpi::math::DCMotor& gearbox, double gearing,
wpi::units::kilogram_square_meter_t moi, wpi::units::meter_t armLength,
wpi::units::radian_t minAngle, wpi::units::radian_t maxAngle,
bool simulateGravity, wpi::units::radian_t startingAngle,
const std::array<double, 2>& measurementStdDevs = {0.0, 0.0});
using LinearSystemSim::SetState;
@@ -74,7 +74,8 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
* @param angle The new angle.
* @param velocity The new angular velocity.
*/
void SetState(wpi::units::radian_t angle, wpi::units::radians_per_second_t velocity);
void SetState(wpi::units::radian_t angle,
wpi::units::radians_per_second_t velocity);
/**
* Returns whether the arm would hit the lower limit.
@@ -156,8 +157,9 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 2> {
* @param u The system inputs (voltage).
* @param dt The time difference between controller updates.
*/
wpi::math::Vectord<2> UpdateX(const wpi::math::Vectord<2>& currentXhat, const wpi::math::Vectord<1>& u,
wpi::units::second_t dt) override;
wpi::math::Vectord<2> UpdateX(const wpi::math::Vectord<2>& currentXhat,
const wpi::math::Vectord<1>& u,
wpi::units::second_t dt) override;
private:
wpi::units::meter_t m_armLen;