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[wpimath] change G to gearing in LinearSystemId factories (#5834)

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DeltaDizzy
2023-11-12 22:22:39 -06:00
committed by GitHub
parent 9ada181866
commit 78ebc6e9ec
3 changed files with 84 additions and 77 deletions
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31
wpimath/src/main/native/include/frc/system/plant/LinearSystemId.h
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@@ -38,12 +38,13 @@ class WPILIB_DLLEXPORT LinearSystemId {
* @param motor The motor (or gearbox) attached to the carriage.
* @param mass The mass of the elevator carriage, in kilograms.
* @param radius The radius of the elevator's driving drum, in meters.
* @param G Gear ratio from motor to carriage.
* @throws std::domain_error if mass <= 0, radius <= 0, or G <= 0.
* @param gearing Gear ratio from motor to carriage.
* @throws std::domain_error if mass <= 0, radius <= 0, or gearing <= 0.
*/
static LinearSystem<2, 1, 1> ElevatorSystem(DCMotor motor,
units::kilogram_t mass,
units::meter_t radius, double G);
units::meter_t radius,
double gearing);
/**
* Create a state-space model of a single-jointed arm system.The states of the
@@ -52,11 +53,11 @@ class WPILIB_DLLEXPORT LinearSystemId {
*
* @param motor The motor (or gearbox) attached to the arm.
* @param J The moment of inertia J of the arm.
* @param G Gear ratio from motor to arm.
* @throws std::domain_error if J <= 0 or G <= 0.
* @param gearing Gear ratio from motor to arm.
* @throws std::domain_error if J <= 0 or gearing <= 0.
*/
static LinearSystem<2, 1, 1> SingleJointedArmSystem(
DCMotor motor, units::kilogram_square_meter_t J, double G);
DCMotor motor, units::kilogram_square_meter_t J, double gearing);
/**
* Create a state-space model for a 1 DOF velocity system from its kV
@@ -198,12 +199,12 @@ class WPILIB_DLLEXPORT LinearSystemId {
*
* @param motor The motor (or gearbox) attached to the flywheel.
* @param J The moment of inertia J of the flywheel.
* @param G Gear ratio from motor to flywheel.
* @throws std::domain_error if J <= 0 or G <= 0.
* @param gearing Gear ratio from motor to flywheel.
* @throws std::domain_error if J <= 0 or gearing <= 0.
*/
static LinearSystem<1, 1, 1> FlywheelSystem(DCMotor motor,
units::kilogram_square_meter_t J,
double G);
double gearing);
/**
* Create a state-space model of a DC motor system. The states of the system
@@ -212,12 +213,12 @@ class WPILIB_DLLEXPORT LinearSystemId {
*
* @param motor The motor (or gearbox) attached to the system.
* @param J the moment of inertia J of the DC motor.
* @param G Gear ratio from motor to output.
* @throws std::domain_error if J <= 0 or G <= 0.
* @param gearing Gear ratio from motor to output.
* @throws std::domain_error if J <= 0 or gearing <= 0.
*/
static LinearSystem<2, 1, 2> DCMotorSystem(DCMotor motor,
units::kilogram_square_meter_t J,
double G);
double gearing);
/**
* Create a state-space model of a DC motor system from its kV
@@ -271,13 +272,13 @@ class WPILIB_DLLEXPORT LinearSystemId {
* @param r The radius of the wheels in meters.
* @param rb The radius of the base (half of the track width), in meters.
* @param J The moment of inertia of the robot.
* @param G Gear ratio from motor to wheel.
* @param gearing Gear ratio from motor to wheel.
* @throws std::domain_error if mass <= 0, r <= 0, rb <= 0, J <= 0, or
* G <= 0.
* gearing <= 0.
*/
static LinearSystem<2, 2, 2> DrivetrainVelocitySystem(
const DCMotor& motor, units::kilogram_t mass, units::meter_t r,
units::meter_t rb, units::kilogram_square_meter_t J, double G);
units::meter_t rb, units::kilogram_square_meter_t J, double gearing);
};
} // namespace frc