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[examples] ArmSimulation, ElevatorSimulation: Extract mechanism to class (#5052)

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Starlight220
2023-02-12 16:50:57 +02:00
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parent 5483464158
commit 43975ac7cc
24 changed files with 1430 additions and 508 deletions
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wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Constants.h 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.
#pragma once
#include <numbers>
#include <units/acceleration.h>
#include <units/angle.h>
#include <units/length.h>
#include <units/mass.h>
#include <units/time.h>
#include <units/velocity.h>
#include <units/voltage.h>
/**
* The Constants header provides a convenient place for teams to hold robot-wide
* numerical or bool constants. This should not be used for any other purpose.
*
* It is generally a good idea to place constants into subsystem- or
* command-specific namespaces within this header, which can then be used where
* they are needed.
*/
namespace Constants {
static constexpr int kMotorPort = 0;
static constexpr int kEncoderAChannel = 0;
static constexpr int kEncoderBChannel = 1;
static constexpr int kJoystickPort = 0;
static constexpr double kElevatorKp = 5.0;
static constexpr double kElevatorKi = 0.0;
static constexpr double kElevatorKd = 0.0;
static constexpr units::volt_t kElevatorkS = 0.0_V;
static constexpr units::volt_t kElevatorkG = 0.762_V;
static constexpr auto kElevatorkV = 0.762_V / 1_mps;
static constexpr auto kElevatorkA = 0.0_V / 1_mps_sq;
static constexpr double kElevatorGearing = 10.0;
static constexpr units::meter_t kElevatorDrumRadius = 2_in;
static constexpr units::kilogram_t kCarriageMass = 4.0_kg;
static constexpr units::meter_t kSetpoint = 75_cm;
static constexpr units::meter_t kMinElevatorHeight = 0_cm;
static constexpr units::meter_t kMaxElevatorHeight = 1.25_m;
// distance per pulse = (distance per revolution) / (pulses per revolution)
// = (Pi * D) / ppr
static constexpr double kArmEncoderDistPerPulse =
2.0 * std::numbers::pi * kElevatorDrumRadius.value() / 4096.0;
} // namespace Constants