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

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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 <units/angular_acceleration.h>
+#include <units/angular_velocity.h>
+#include <units/moment_of_inertia.h>
+#include <units/torque.h>
+
+#include "frc/simulation/LinearSystemSim.h"
+#include "frc/system/LinearSystem.h"
+#include "frc/system/plant/DCMotor.h"
+
+namespace frc::sim {
+/**
+ * Represents a simulated flywheel mechanism.
+ */
+class FlywheelSim : public LinearSystemSim<1, 1, 1> {
+ public:
+  /**
+   * Creates a simulated flywheel mechanism.
+   *
+   * @param plant              The linear system representing the flywheel. This
+   *                           system can be created with
+   *                           LinearSystemId::FlywheelSystem() or
+   * LinearSystemId::IdentifyVelocitySystem().
+   * @param gearbox            The type of and number of motors in the flywheel
+   *                           gearbox.
+   * @param measurementStdDevs The standard deviation of the measurement noise.
+   */
+  FlywheelSim(const LinearSystem<1, 1, 1>& plant, const DCMotor& gearbox,
+              const std::array<double, 1>& measurementStdDevs = {0.0});
+
+  using LinearSystemSim::SetState;
+
+  /**
+   * Sets the flywheel's angular velocity.
+   *
+   * @param velocity The new velocity
+   */
+  void SetVelocity(units::radians_per_second_t velocity);
+
+  /**
+   * Returns the flywheel's velocity.
+   *
+   * @return The flywheel's velocity.
+   */
+  units::radians_per_second_t GetAngularVelocity() const;
+
+  /**
+   * Returns the flywheel's acceleration.
+   *
+   * @return The flywheel's acceleration
+   */
+  units::radians_per_second_squared_t GetAngularAcceleration() const;
+
+  /**
+   * Returns the flywheel's torque.
+   *
+   * @return The flywheel's torque
+   */
+  units::newton_meter_t GetTorque() const;
+
+  /**
+   * Returns the flywheel's current draw.
+   *
+   * @return The flywheel's current draw.
+   */
+  units::ampere_t GetCurrentDraw() const;
+
+  /**
+   * Gets the input voltage for the flywheel.
+   *
+   * @return The flywheel input voltage.
+   */
+  units::volt_t GetInputVoltage() const;
+
+  /**
+   * Sets the input voltage for the flywheel.
+   *
+   * @param voltage The input voltage.
+   */
+  void SetInputVoltage(units::volt_t voltage);
+
+  /**
+   * Returns the gearbox.
+   */
+  DCMotor Gearbox() const { return m_gearbox; }
+
+  /**
+   * Returns the gearing;
+   */
+  double Gearing() const { return m_gearing; }
+
+  /**
+   * Returns the moment of inertia
+   */
+  units::kilogram_square_meter_t J() const { return m_j; }
+
+ private:
+  DCMotor m_gearbox;
+  double m_gearing;
+  units::kilogram_square_meter_t m_j;
+};
+}  // namespace frc::sim