SCRIPT Move cc files

wpilibc/src/main/native/include/wpi/simulation/ElevatorSim.hpp

@@ -0,0 +1,179 @@
+// 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 <array>
+
+#include <units/length.h>
+#include <units/mass.h>
+#include <units/velocity.h>
+
+#include "frc/simulation/LinearSystemSim.h"
+#include "frc/system/plant/DCMotor.h"
+
+namespace frc::sim {
+/**
+ * Represents a simulated elevator mechanism.
+ */
+class ElevatorSim : public LinearSystemSim<2, 1, 2> {
+ public:
+  template <typename Distance>
+  using Velocity_t = units::unit_t<
+      units::compound_unit<Distance, units::inverse<units::seconds>>>;
+
+  template <typename Distance>
+  using Acceleration_t = units::unit_t<units::compound_unit<
+      units::compound_unit<Distance, units::inverse<units::seconds>>,
+      units::inverse<units::seconds>>>;
+
+  /**
+   * Constructs a simulated elevator mechanism.
+   *
+   * @param plant              The linear system that represents the elevator.
+   *                           This system can be created with
+   *                           LinearSystemId::ElevatorSystem().
+   * @param gearbox            The type of and number of motors in your
+   *                           elevator gearbox.
+   * @param minHeight          The minimum allowed height of the elevator.
+   * @param maxHeight          The maximum allowed height of the elevator.
+   * @param simulateGravity    Whether gravity should be simulated or not.
+   * @param startingHeight     The starting height of the elevator.
+   * @param measurementStdDevs The standard deviation of the measurements.
+   */
+  ElevatorSim(const LinearSystem<2, 1, 2>& plant, const DCMotor& gearbox,
+              units::meter_t minHeight, units::meter_t maxHeight,
+              bool simulateGravity, units::meter_t startingHeight,
+              const std::array<double, 2>& measurementStdDevs = {0.0, 0.0});
+
+  /**
+   * Constructs a simulated elevator mechanism.
+   *
+   * @param gearbox            The type of and number of motors in your
+   *                           elevator gearbox.
+   * @param gearing            The gearing of the elevator (numbers greater
+   *                           than 1 represent reductions).
+   * @param carriageMass       The mass of the elevator carriage.
+   * @param drumRadius         The radius of the drum that your cable is
+   *                           wrapped around.
+   * @param minHeight          The minimum allowed height of the elevator.
+   * @param maxHeight          The maximum allowed height of the elevator.
+   * @param simulateGravity    Whether gravity should be simulated or not.
+   * @param startingHeight     The starting height of the elevator.
+   * @param measurementStdDevs The standard deviation of the measurements.
+   */
+  ElevatorSim(const DCMotor& gearbox, double gearing,
+              units::kilogram_t carriageMass, units::meter_t drumRadius,
+              units::meter_t minHeight, units::meter_t maxHeight,
+              bool simulateGravity, units::meter_t startingHeight,
+              const std::array<double, 2>& measurementStdDevs = {0.0, 0.0});
+
+  /**
+   * Constructs a simulated elevator mechanism.
+   *
+   * @param kV                 The velocity gain.
+   * @param kA                 The acceleration gain.
+   * @param gearbox            The type of and number of motors in your
+   *                           elevator gearbox.
+   * @param minHeight          The minimum allowed height of the elevator.
+   * @param maxHeight          The maximum allowed height of the elevator.
+   * @param simulateGravity    Whether gravity should be simulated or not.
+   * @param startingHeight     The starting height of the elevator.
+   * @param measurementStdDevs The standard deviation of the measurements.
+   */
+  template <typename Distance>
+    requires std::same_as<units::meter, Distance> ||
+             std::same_as<units::radian, Distance>
+  ElevatorSim(decltype(1_V / Velocity_t<Distance>(1)) kV,
+              decltype(1_V / Acceleration_t<Distance>(1)) kA,
+              const DCMotor& gearbox, units::meter_t minHeight,
+              units::meter_t maxHeight, bool simulateGravity,
+              units::meter_t startingHeight,
+              const std::array<double, 2>& measurementStdDevs = {0.0, 0.0});
+  using LinearSystemSim::SetState;
+
+  /**
+   * Sets the elevator's state. The new position will be limited between the
+   * minimum and maximum allowed heights.
+   * @param position The new position
+   * @param velocity The new velocity
+   */
+  void SetState(units::meter_t position, units::meters_per_second_t velocity);
+
+  /**
+   * Returns whether the elevator would hit the lower limit.
+   *
+   * @param elevatorHeight The elevator height.
+   * @return Whether the elevator would hit the lower limit.
+   */
+  bool WouldHitLowerLimit(units::meter_t elevatorHeight) const;
+
+  /**
+   * Returns whether the elevator would hit the upper limit.
+   *
+   * @param elevatorHeight The elevator height.
+   * @return Whether the elevator would hit the upper limit.
+   */
+  bool WouldHitUpperLimit(units::meter_t elevatorHeight) const;
+
+  /**
+   * Returns whether the elevator has hit the lower limit.
+   *
+   * @return Whether the elevator has hit the lower limit.
+   */
+  bool HasHitLowerLimit() const;
+
+  /**
+   * Returns whether the elevator has hit the upper limit.
+   *
+   * @return Whether the elevator has hit the upper limit.
+   */
+  bool HasHitUpperLimit() const;
+
+  /**
+   * Returns the position of the elevator.
+   *
+   * @return The position of the elevator.
+   */
+  units::meter_t GetPosition() const;
+
+  /**
+   * Returns the velocity of the elevator.
+   *
+   * @return The velocity of the elevator.
+   */
+  units::meters_per_second_t GetVelocity() const;
+
+  /**
+   * Returns the elevator current draw.
+   *
+   * @return The elevator current draw.
+   */
+  units::ampere_t GetCurrentDraw() const;
+
+  /**
+   * Sets the input voltage for the elevator.
+   *
+   * @param voltage The input voltage.
+   */
+  void SetInputVoltage(units::volt_t voltage);
+
+ protected:
+  /**
+   * Updates the state estimate of the elevator.
+   *
+   * @param currentXhat The current state estimate.
+   * @param u           The system inputs (voltage).
+   * @param dt          The time difference between controller updates.
+   */
+  Vectord<2> UpdateX(const Vectord<2>& currentXhat, const Vectord<1>& u,
+                     units::second_t dt) override;
+
+ private:
+  DCMotor m_gearbox;
+  units::meter_t m_minHeight;
+  units::meter_t m_maxHeight;
+  bool m_simulateGravity;
+};
+}  // namespace frc::sim