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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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wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DCMotorSimTest.java 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.
package edu.wpi.first.wpilibj.simulation;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
import org.junit.jupiter.api.Test;
class DCMotorSimTest {
@Test
void testVoltageSteadyState() {
RoboRioSim.resetData();
DCMotor gearbox = DCMotor.getNEO(1);
DCMotorSim sim = new DCMotorSim(gearbox, 1.0, 0.0005);
try (var motor = new PWMVictorSPX(0);
var encoder = new Encoder(0, 1)) {
var encoderSim = new EncoderSim(encoder);
encoderSim.resetData();
for (int i = 0; i < 100; i++) {
motor.setVoltage(12);
// ------ SimulationPeriodic() happens after user code -------
RoboRioSim.setVInVoltage(
BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDrawAmps()));
sim.setInputVoltage(motor.get() * RobotController.getBatteryVoltage());
sim.update(0.020);
encoderSim.setRate(sim.getAngularVelocityRadPerSec());
}
assertEquals(gearbox.KvRadPerSecPerVolt * 12, encoder.getRate(), 0.1);
for (int i = 0; i < 100; i++) {
motor.setVoltage(0);
// ------ SimulationPeriodic() happens after user code -------
RoboRioSim.setVInVoltage(
BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDrawAmps()));
sim.setInputVoltage(motor.get() * RobotController.getBatteryVoltage());
sim.update(0.020);
encoderSim.setRate(sim.getAngularVelocityRadPerSec());
}
assertEquals(0, encoder.getRate(), 0.1);
}
}
@Test
void testPositionFeedbackControl() {
RoboRioSim.resetData();
DCMotor gearbox = DCMotor.getNEO(1);
DCMotorSim sim = new DCMotorSim(gearbox, 1.0, 0.0005);
try (var motor = new PWMVictorSPX(0);
var encoder = new Encoder(0, 1);
var controller = new PIDController(0.04, 0.0, 0.001); ) {
var encoderSim = new EncoderSim(encoder);
encoderSim.resetData();
for (int i = 0; i < 140; i++) {
motor.set(controller.calculate(encoder.getDistance(), 750));
// ------ SimulationPeriodic() happens after user code -------
RoboRioSim.setVInVoltage(
BatterySim.calculateDefaultBatteryLoadedVoltage(sim.getCurrentDrawAmps()));
sim.setInputVoltage(motor.get() * RobotController.getBatteryVoltage());
sim.update(0.020);
encoderSim.setDistance(sim.getAngularPositionRad());
encoderSim.setRate(sim.getAngularVelocityRadPerSec());
}
assertEquals(750, encoder.getDistance(), 1.0);
assertEquals(0, encoder.getRate(), 0.1);
}
}
}