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[sim] Use units for voltage and current in RoboRioSim (#2853)

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This commit is contained in:
Prateek Machiraju
2020-11-12 01:33:49 -05:00
committed by GitHub
parent ac3c336b98
commit 3c85a40648
5 changed files with 56 additions and 51 deletions
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64
wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
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@@ -39,10 +39,12 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterVInVoltageCallback(
return store;
}
double RoboRioSim::GetVInVoltage() { return HALSIM_GetRoboRioVInVoltage(); }
units::volt_t RoboRioSim::GetVInVoltage() {
return units::volt_t(HALSIM_GetRoboRioVInVoltage());
}
void RoboRioSim::SetVInVoltage(double vInVoltage) {
HALSIM_SetRoboRioVInVoltage(vInVoltage);
void RoboRioSim::SetVInVoltage(units::volt_t vInVoltage) {
HALSIM_SetRoboRioVInVoltage(vInVoltage.to<double>());
}
std::unique_ptr<CallbackStore> RoboRioSim::RegisterVInCurrentCallback(
@@ -54,10 +56,12 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterVInCurrentCallback(
return store;
}
double RoboRioSim::GetVInCurrent() { return HALSIM_GetRoboRioVInCurrent(); }
units::ampere_t RoboRioSim::GetVInCurrent() {
return units::ampere_t(HALSIM_GetRoboRioVInCurrent());
}
void RoboRioSim::SetVInCurrent(double vInCurrent) {
HALSIM_SetRoboRioVInCurrent(vInCurrent);
void RoboRioSim::SetVInCurrent(units::ampere_t vInCurrent) {
HALSIM_SetRoboRioVInCurrent(vInCurrent.to<double>());
}
std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserVoltage6VCallback(
@@ -69,12 +73,12 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserVoltage6VCallback(
return store;
}
double RoboRioSim::GetUserVoltage6V() {
return HALSIM_GetRoboRioUserVoltage6V();
units::volt_t RoboRioSim::GetUserVoltage6V() {
return units::volt_t(HALSIM_GetRoboRioUserVoltage6V());
}
void RoboRioSim::SetUserVoltage6V(double userVoltage6V) {
HALSIM_SetRoboRioUserVoltage6V(userVoltage6V);
void RoboRioSim::SetUserVoltage6V(units::volt_t userVoltage6V) {
HALSIM_SetRoboRioUserVoltage6V(userVoltage6V.to<double>());
}
std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserCurrent6VCallback(
@@ -86,12 +90,12 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserCurrent6VCallback(
return store;
}
double RoboRioSim::GetUserCurrent6V() {
return HALSIM_GetRoboRioUserCurrent6V();
units::ampere_t RoboRioSim::GetUserCurrent6V() {
return units::ampere_t(HALSIM_GetRoboRioUserCurrent6V());
}
void RoboRioSim::SetUserCurrent6V(double userCurrent6V) {
HALSIM_SetRoboRioUserCurrent6V(userCurrent6V);
void RoboRioSim::SetUserCurrent6V(units::ampere_t userCurrent6V) {
HALSIM_SetRoboRioUserCurrent6V(userCurrent6V.to<double>());
}
std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserActive6VCallback(
@@ -118,12 +122,12 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserVoltage5VCallback(
return store;
}
double RoboRioSim::GetUserVoltage5V() {
return HALSIM_GetRoboRioUserVoltage5V();
units::volt_t RoboRioSim::GetUserVoltage5V() {
return units::volt_t(HALSIM_GetRoboRioUserVoltage5V());
}
void RoboRioSim::SetUserVoltage5V(double userVoltage5V) {
HALSIM_SetRoboRioUserVoltage5V(userVoltage5V);
void RoboRioSim::SetUserVoltage5V(units::volt_t userVoltage5V) {
HALSIM_SetRoboRioUserVoltage5V(userVoltage5V.to<double>());
}
std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserCurrent5VCallback(
@@ -135,12 +139,12 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserCurrent5VCallback(
return store;
}
double RoboRioSim::GetUserCurrent5V() {
return HALSIM_GetRoboRioUserCurrent5V();
units::ampere_t RoboRioSim::GetUserCurrent5V() {
return units::ampere_t(HALSIM_GetRoboRioUserCurrent5V());
}
void RoboRioSim::SetUserCurrent5V(double userCurrent5V) {
HALSIM_SetRoboRioUserCurrent5V(userCurrent5V);
void RoboRioSim::SetUserCurrent5V(units::ampere_t userCurrent5V) {
HALSIM_SetRoboRioUserCurrent5V(userCurrent5V.to<double>());
}
std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserActive5VCallback(
@@ -167,12 +171,12 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserVoltage3V3Callback(
return store;
}
double RoboRioSim::GetUserVoltage3V3() {
return HALSIM_GetRoboRioUserVoltage3V3();
units::volt_t RoboRioSim::GetUserVoltage3V3() {
return units::volt_t(HALSIM_GetRoboRioUserVoltage3V3());
}
void RoboRioSim::SetUserVoltage3V3(double userVoltage3V3) {
HALSIM_SetRoboRioUserVoltage3V3(userVoltage3V3);
void RoboRioSim::SetUserVoltage3V3(units::volt_t userVoltage3V3) {
HALSIM_SetRoboRioUserVoltage3V3(userVoltage3V3.to<double>());
}
std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserCurrent3V3Callback(
@@ -184,12 +188,12 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserCurrent3V3Callback(
return store;
}
double RoboRioSim::GetUserCurrent3V3() {
return HALSIM_GetRoboRioUserCurrent3V3();
units::ampere_t RoboRioSim::GetUserCurrent3V3() {
return units::ampere_t(HALSIM_GetRoboRioUserCurrent3V3());
}
void RoboRioSim::SetUserCurrent3V3(double userCurrent3V3) {
HALSIM_SetRoboRioUserCurrent3V3(userCurrent3V3);
void RoboRioSim::SetUserCurrent3V3(units::ampere_t userCurrent3V3) {
HALSIM_SetRoboRioUserCurrent3V3(userCurrent3V3.to<double>());
}
std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserActive3V3Callback(

35
wpilibc/src/main/native/include/frc/simulation/RoboRioSim.h
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@@ -9,6 +9,9 @@
#include <memory>
#include <units/current.h>
#include <units/voltage.h>
#include "frc/simulation/CallbackStore.h"
namespace frc {
@@ -29,30 +32,30 @@ class RoboRioSim {
static std::unique_ptr<CallbackStore> RegisterVInVoltageCallback(
NotifyCallback callback, bool initialNotify);
static double GetVInVoltage();
static units::volt_t GetVInVoltage();
static void SetVInVoltage(double vInVoltage);
static void SetVInVoltage(units::volt_t vInVoltage);
static std::unique_ptr<CallbackStore> RegisterVInCurrentCallback(
NotifyCallback callback, bool initialNotify);
static double GetVInCurrent();
static units::ampere_t GetVInCurrent();
static void SetVInCurrent(double vInCurrent);
static void SetVInCurrent(units::ampere_t vInCurrent);
static std::unique_ptr<CallbackStore> RegisterUserVoltage6VCallback(
NotifyCallback callback, bool initialNotify);
static double GetUserVoltage6V();
static units::volt_t GetUserVoltage6V();
static void SetUserVoltage6V(double userVoltage6V);
static void SetUserVoltage6V(units::volt_t userVoltage6V);
static std::unique_ptr<CallbackStore> RegisterUserCurrent6VCallback(
NotifyCallback callback, bool initialNotify);
static double GetUserCurrent6V();
static units::ampere_t GetUserCurrent6V();
static void SetUserCurrent6V(double userCurrent6V);
static void SetUserCurrent6V(units::ampere_t userCurrent6V);
static std::unique_ptr<CallbackStore> RegisterUserActive6VCallback(
NotifyCallback callback, bool initialNotify);
@@ -64,16 +67,16 @@ class RoboRioSim {
static std::unique_ptr<CallbackStore> RegisterUserVoltage5VCallback(
NotifyCallback callback, bool initialNotify);
static double GetUserVoltage5V();
static units::volt_t GetUserVoltage5V();
static void SetUserVoltage5V(double userVoltage5V);
static void SetUserVoltage5V(units::volt_t userVoltage5V);
static std::unique_ptr<CallbackStore> RegisterUserCurrent5VCallback(
NotifyCallback callback, bool initialNotify);
static double GetUserCurrent5V();
static units::ampere_t GetUserCurrent5V();
static void SetUserCurrent5V(double userCurrent5V);
static void SetUserCurrent5V(units::ampere_t userCurrent5V);
static std::unique_ptr<CallbackStore> RegisterUserActive5VCallback(
NotifyCallback callback, bool initialNotify);
@@ -85,16 +88,16 @@ class RoboRioSim {
static std::unique_ptr<CallbackStore> RegisterUserVoltage3V3Callback(
NotifyCallback callback, bool initialNotify);
static double GetUserVoltage3V3();
static units::volt_t GetUserVoltage3V3();
static void SetUserVoltage3V3(double userVoltage3V3);
static void SetUserVoltage3V3(units::volt_t userVoltage3V3);
static std::unique_ptr<CallbackStore> RegisterUserCurrent3V3Callback(
NotifyCallback callback, bool initialNotify);
static double GetUserCurrent3V3();
static units::ampere_t GetUserCurrent3V3();
static void SetUserCurrent3V3(double userCurrent3V3);
static void SetUserCurrent3V3(units::ampere_t userCurrent3V3);
static std::unique_ptr<CallbackStore> RegisterUserActive3V3Callback(
NotifyCallback callback, bool initialNotify);

2
wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp
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@@ -47,7 +47,7 @@ TEST(StateSpaceSimTest, TestFlywheelSim) {
// Then, SimulationPeriodic runs
frc::sim::RoboRioSim::SetVInVoltage(
frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}).to<double>());
frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
sim.SetInput(frc::MakeMatrix<1, 1>(
motor.Get() * frc::RobotController::GetInputVoltage()));
sim.Update(20_ms);

3
wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
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@@ -82,8 +82,7 @@ class Robot : public frc::TimedRobot {
m_encoderSim.SetDistance(m_armSim.GetAngle().to<double>());
// SimBattery estimates loaded battery voltages
frc::sim::RoboRioSim::SetVInVoltage(
frc::sim::BatterySim::Calculate({m_armSim.GetCurrentDraw()})
.to<double>());
frc::sim::BatterySim::Calculate({m_armSim.GetCurrentDraw()}));
}
void TeleopPeriodic() {

3
wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/Robot.cpp
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@@ -81,8 +81,7 @@ class Robot : public frc::TimedRobot {
m_encoderSim.SetDistance(m_elevatorSim.GetPosition().to<double>());
// SimBattery estimates loaded battery voltages
frc::sim::RoboRioSim::SetVInVoltage(
frc::sim::BatterySim::Calculate({m_elevatorSim.GetCurrentDraw()})
.to<double>());
frc::sim::BatterySim::Calculate({m_elevatorSim.GetCurrentDraw()}));
}
void TeleopPeriodic() {