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[wpimath] Add model description to LinearSystemId Javadocs (#3080)

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This commit is contained in:
Prateek Machiraju
2021-01-11 23:08:55 -05:00
committed by GitHub
parent 42c3d52863
commit 26584ff145
1 changed files with 14 additions and 7 deletions
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21
wpimath/src/main/java/edu/wpi/first/wpilibj/system/plant/LinearSystemId.java
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@@ -17,7 +17,8 @@ public final class LinearSystemId {
}
/**
* Create a state-space model of an elevator system.
* Create a state-space model of an elevator system. The states of the system are [position,
* velocity]^T, inputs are [voltage], and outputs are [position].
*
* @param motor The motor (or gearbox) attached to the arm.
* @param massKg The mass of the elevator carriage, in kilograms.
@@ -47,7 +48,8 @@ public final class LinearSystemId {
}
/**
* Create a state-space model of a flywheel system.
* Create a state-space model of a flywheel system. The states of the system are [angular
* velocity], inputs are [voltage], and outputs are [angular velocity].
*
* @param motor The motor (or gearbox) attached to the arm.
* @param jKgMetersSquared The moment of inertia J of the flywheel.
@@ -103,11 +105,12 @@ public final class LinearSystemId {
}
/**
* Create a state-space model of a single jointed arm system.
* Create a state-space model of a single jointed arm system. The states of the system are [angle,
* angular velocity], inputs are [voltage], and outputs are [angle].
*
* @param motor The motor (or gearbox) attached to the arm.
* @param jKgSquaredMeters The moment of inertia J of the arm.
* @param G the gearing between the motor and arm, in output over input. Most of the time this
* @param G The gearing between the motor and arm, in output over input. Most of the time this
* will be greater than 1.
* @return A LinearSystem representing the given characterized constants.
*/
@@ -130,7 +133,8 @@ public final class LinearSystemId {
/**
* Identify a velocity system from it's kV (volts/(unit/sec)) and kA (volts/(unit/sec^2). These
* constants cam be found using frc-characterization.
* constants cam be found using frc-characterization. The states of the system are [velocity],
* inputs are [voltage], and outputs are [velocity].
*
* <p>The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use the
* {@link edu.wpi.first.wpilibj.util.Units} class for converting between unit types.
@@ -152,7 +156,8 @@ public final class LinearSystemId {
/**
* Identify a position system from it's kV (volts/(unit/sec)) and kA (volts/(unit/sec^2). These
* constants cam be found using frc-characterization.
* constants cam be found using frc-characterization. The states of the system are [position,
* velocity]^T, inputs are [voltage], and outputs are [position].
*
* <p>The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use the
* {@link edu.wpi.first.wpilibj.util.Units} class for converting between unit types.
@@ -175,7 +180,9 @@ public final class LinearSystemId {
/**
* Identify a standard differential drive drivetrain, given the drivetrain's kV and kA in both
* linear (volts/(meter/sec) and volts/(meter/sec^2)) and angular (volts/(radian/sec) and
* volts/(radian/sec^2)) cases. This can be found using frc-characterization.
* volts/(radian/sec^2)) cases. This can be found using frc-characterization. The states of the
* system are [left velocity, right velocity]^T, inputs are [left voltage, right voltage]^T, and
* outputs are [left velocity, right velocity]^T.
*
* @param kVLinear The linear velocity gain, volts per (meter per second).
* @param kALinear The linear acceleration gain, volts per (meter per second squared).