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[wpilib] Add DCMotorSim (#3910)

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modelmat
2022-01-22 04:42:06 +00:00
committed by GitHub
parent a467392cbd
commit 42908126b9
9 changed files with 541 additions and 0 deletions
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32
wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
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@@ -320,6 +320,38 @@ class WPILIB_DLLEXPORT LinearSystemId {
return LinearSystem<1, 1, 1>(A, B, C, D);
}
/**
* Constructs the state-space model for a DC motor motor.
*
* States: [[angular position, angular velocity]]
* Inputs: [[voltage]]
* Outputs: [[angular position, angular velocity]]
*
* @param motor Instance of DCMotor.
* @param J Moment of inertia.
* @param G Gear ratio from motor to carriage.
* @throws std::domain_error if J <= 0 or G <= 0.
*/
static LinearSystem<2, 1, 2> DCMotorSystem(DCMotor motor,
units::kilogram_square_meter_t J,
double G) {
if (J <= 0_kg_sq_m) {
throw std::domain_error("J must be greater than zero.");
}
if (G <= 0.0) {
throw std::domain_error("G must be greater than zero.");
}
Eigen::Matrix<double, 2, 2> A{
{0.0, 1.0},
{0.0, (-std::pow(G, 2) * motor.Kt / (motor.Kv * motor.R * J)).value()}};
Eigen::Matrix<double, 2, 1> B{0.0, (G * motor.Kt / (motor.R * J)).value()};
Eigen::Matrix<double, 2, 2> C{{1.0, 0.0}, {0.0, 1.0}};
Eigen::Matrix<double, 2, 1> D{0.0, 0.0};
return LinearSystem<2, 1, 2>(A, B, C, D);
}
/**
* Constructs the state-space model for a drivetrain.
*