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[wpilib] Add DCMotorSim (#3910)

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modelmat
2022-01-22 04:42:06 +00:00
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parent a467392cbd
commit 42908126b9
9 changed files with 541 additions and 0 deletions
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wpilibc/src/test/native/cpp/simulation/DCMotorSimTest.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/Encoder.h"
#include "frc/RobotController.h"
#include "frc/controller/PIDController.h"
#include "frc/motorcontrol/PWMVictorSPX.h"
#include "frc/simulation/BatterySim.h"
#include "frc/simulation/DCMotorSim.h"
#include "frc/simulation/EncoderSim.h"
#include "frc/simulation/RoboRioSim.h"
#include "gtest/gtest.h"
TEST(DCMotorSimTest, VoltageSteadyState) {
frc::DCMotor gearbox = frc::DCMotor::NEO(1);
frc::sim::DCMotorSim sim{gearbox, 1.0,
units::kilogram_square_meter_t{0.0005}};
frc::Encoder encoder{0, 1};
frc::sim::EncoderSim encoderSim{encoder};
frc::PWMVictorSPX motor{0};
frc::sim::RoboRioSim::ResetData();
encoderSim.ResetData();
// Spin-up
for (int i = 0; i < 100; i++) {
// RobotPeriodic runs first
motor.SetVoltage(12_V);
// Then, SimulationPeriodic runs
frc::sim::RoboRioSim::SetVInVoltage(
frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
sim.SetInputVoltage(motor.Get() *
frc::RobotController::GetBatteryVoltage());
sim.Update(20_ms);
encoderSim.SetRate(sim.GetAngularVelocity().value());
}
EXPECT_NEAR((gearbox.Kv * 12_V).value(), encoder.GetRate(), 0.1);
// Decay
for (int i = 0; i < 100; i++) {
// RobotPeriodic runs first
motor.SetVoltage(0_V);
// Then, SimulationPeriodic runs
frc::sim::RoboRioSim::SetVInVoltage(
frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
sim.SetInputVoltage(motor.Get() *
frc::RobotController::GetBatteryVoltage());
sim.Update(20_ms);
encoderSim.SetRate(sim.GetAngularVelocity().value());
}
EXPECT_NEAR(0, encoder.GetRate(), 0.1);
}
TEST(DCMotorSimTest, PositionFeedbackControl) {
frc::DCMotor gearbox = frc::DCMotor::NEO(1);
frc::sim::DCMotorSim sim{gearbox, 1.0,
units::kilogram_square_meter_t{0.0005}};
frc2::PIDController controller{0.04, 0.0, 0.001};
frc::Encoder encoder{0, 1};
frc::sim::EncoderSim encoderSim{encoder};
frc::PWMVictorSPX motor{0};
frc::sim::RoboRioSim::ResetData();
encoderSim.ResetData();
for (int i = 0; i < 140; i++) {
// RobotPeriodic runs first
motor.Set(controller.Calculate(encoder.GetDistance(), 750));
// Then, SimulationPeriodic runs
frc::sim::RoboRioSim::SetVInVoltage(
frc::sim::BatterySim::Calculate({sim.GetCurrentDraw()}));
sim.SetInputVoltage(motor.Get() *
frc::RobotController::GetBatteryVoltage());
sim.Update(20_ms);
encoderSim.SetDistance(sim.GetAngularPosition().value());
encoderSim.SetRate(sim.GetAngularVelocity().value());
}
EXPECT_NEAR(encoder.GetDistance(), 750, 1.0);
EXPECT_NEAR(encoder.GetRate(), 0, 0.1);
}