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[examples] Add Mechanism2d visualization to Elevator Sim (#3587)

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This commit is contained in:
sciencewhiz
2021-09-18 22:06:14 -07:00
committed by GitHub
parent a446c25598
commit 50198ffcf1
4 changed files with 50 additions and 6 deletions
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20
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/Robot.java
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@@ -17,6 +17,10 @@ import edu.wpi.first.wpilibj.simulation.BatterySim;
import edu.wpi.first.wpilibj.simulation.ElevatorSim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.simulation.RoboRioSim;
import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
import edu.wpi.first.wpilibj.smartdashboard.MechanismRoot2d;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/** This is a sample program to demonstrate the use of elevator simulation with existing code. */
public class Robot extends TimedRobot {
@@ -30,7 +34,7 @@ public class Robot extends TimedRobot {
private static final double kElevatorDrumRadius = Units.inchesToMeters(2.0);
private static final double kCarriageMass = 4.0; // kg
private static final double kMinElevatorHeight = 0.0;
private static final double kMinElevatorHeight = Units.inchesToMeters(2);
private static final double kMaxElevatorHeight = Units.inchesToMeters(50);
// distance per pulse = (distance per revolution) / (pulses per revolution)
@@ -58,9 +62,20 @@ public class Robot extends TimedRobot {
VecBuilder.fill(0.01));
private final EncoderSim m_encoderSim = new EncoderSim(m_encoder);
// Create a Mechanism2d visualization of the elevator
private final Mechanism2d m_mech2d = new Mechanism2d(20, 50);
private final MechanismRoot2d m_mech2dRoot = m_mech2d.getRoot("Elevator Root", 10, 0);
private final MechanismLigament2d m_elevatorMech2d =
m_mech2dRoot.append(
new MechanismLigament2d(
"Elevator", Units.metersToInches(m_elevatorSim.getPositionMeters()), 90));
@Override
public void robotInit() {
m_encoder.setDistancePerPulse(kElevatorEncoderDistPerPulse);
// Publish Mechanism2d to SmartDashboard
SmartDashboard.putData("Elevator Sim", m_mech2d);
}
@Override
@@ -77,6 +92,9 @@ public class Robot extends TimedRobot {
// SimBattery estimates loaded battery voltages
RoboRioSim.setVInVoltage(
BatterySim.calculateDefaultBatteryLoadedVoltage(m_elevatorSim.getCurrentDrawAmps()));
// Update elevator visualization with simulated position
m_elevatorMech2d.setLength(Units.metersToInches(m_elevatorSim.getPositionMeters()));
}
@Override

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
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@@ -694,7 +694,8 @@
"Digital",
"Sensors",
"Simulation",
"Physics"
"Physics",
"Mechanism2d"
],
"foldername": "elevatorsimulation",
"gradlebase": "java",