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SCRIPT namespace replacements

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This commit is contained in:
PJ Reiniger
2025-11-07 20:00:05 -05:00
committed by Peter Johnson
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
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56
wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
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@@ -7,11 +7,11 @@
#include "wpi/system/RobotController.hpp"
#include "wpi/util/MathExtras.hpp"
using namespace frc;
using namespace frc::sim;
using namespace wpi;
using namespace wpi::sim;
DCMotorSim::DCMotorSim(const LinearSystem<2, 1, 2>& plant,
const DCMotor& gearbox,
DCMotorSim::DCMotorSim(const wpi::math::LinearSystem<2, 1, 2>& plant,
const wpi::math::DCMotor& gearbox,
const std::array<double, 2>& measurementStdDevs)
: LinearSystemSim<2, 1, 2>(plant, measurementStdDevs),
m_gearbox(gearbox),
@@ -36,56 +36,56 @@ DCMotorSim::DCMotorSim(const LinearSystem<2, 1, 2>& plant,
m_j(m_gearing * gearbox.Kt.value() /
(gearbox.R.value() * m_plant.B(1, 0))) {}
void DCMotorSim::SetState(units::radian_t angularPosition,
units::radians_per_second_t angularVelocity) {
SetState(Vectord<2>{angularPosition, angularVelocity});
void DCMotorSim::SetState(wpi::units::radian_t angularPosition,
wpi::units::radians_per_second_t angularVelocity) {
SetState(wpi::math::Vectord<2>{angularPosition, angularVelocity});
}
void DCMotorSim::SetAngle(units::radian_t angularPosition) {
void DCMotorSim::SetAngle(wpi::units::radian_t angularPosition) {
SetState(angularPosition, GetAngularVelocity());
}
void DCMotorSim::SetAngularVelocity(
units::radians_per_second_t angularVelocity) {
wpi::units::radians_per_second_t angularVelocity) {
SetState(GetAngularPosition(), angularVelocity);
}
units::radian_t DCMotorSim::GetAngularPosition() const {
return units::radian_t{GetOutput(0)};
wpi::units::radian_t DCMotorSim::GetAngularPosition() const {
return wpi::units::radian_t{GetOutput(0)};
}
units::radians_per_second_t DCMotorSim::GetAngularVelocity() const {
return units::radians_per_second_t{GetOutput(1)};
wpi::units::radians_per_second_t DCMotorSim::GetAngularVelocity() const {
return wpi::units::radians_per_second_t{GetOutput(1)};
}
units::radians_per_second_squared_t DCMotorSim::GetAngularAcceleration() const {
return units::radians_per_second_squared_t{
wpi::units::radians_per_second_squared_t DCMotorSim::GetAngularAcceleration() const {
return wpi::units::radians_per_second_squared_t{
(m_plant.A() * m_x + m_plant.B() * m_u)(1, 0)};
}
units::newton_meter_t DCMotorSim::GetTorque() const {
return units::newton_meter_t{GetAngularAcceleration().value() * m_j.value()};
wpi::units::newton_meter_t DCMotorSim::GetTorque() const {
return wpi::units::newton_meter_t{GetAngularAcceleration().value() * m_j.value()};
}
units::ampere_t DCMotorSim::GetCurrentDraw() const {
wpi::units::ampere_t DCMotorSim::GetCurrentDraw() const {
// I = V / R - omega / (Kv * R)
// Reductions are greater than 1, so a reduction of 10:1 would mean the motor
// is spinning 10x faster than the output.
return m_gearbox.Current(units::radians_per_second_t{m_x(1)} * m_gearing,
units::volt_t{m_u(0)}) *
wpi::sgn(m_u(0));
return m_gearbox.Current(wpi::units::radians_per_second_t{m_x(1)} * m_gearing,
wpi::units::volt_t{m_u(0)}) *
wpi::util::sgn(m_u(0));
}
units::volt_t DCMotorSim::GetInputVoltage() const {
return units::volt_t{GetInput(0)};
wpi::units::volt_t DCMotorSim::GetInputVoltage() const {
return wpi::units::volt_t{GetInput(0)};
}
void DCMotorSim::SetInputVoltage(units::volt_t voltage) {
SetInput(Vectord<1>{voltage.value()});
ClampInput(frc::RobotController::GetBatteryVoltage().value());
void DCMotorSim::SetInputVoltage(wpi::units::volt_t voltage) {
SetInput(wpi::math::Vectord<1>{voltage.value()});
ClampInput(wpi::RobotController::GetBatteryVoltage().value());
}
const DCMotor& DCMotorSim::GetGearbox() const {
const wpi::math::DCMotor& DCMotorSim::GetGearbox() const {
return m_gearbox;
}
@@ -93,6 +93,6 @@ double DCMotorSim::GetGearing() const {
return m_gearing;
}
units::kilogram_square_meter_t DCMotorSim::GetJ() const {
wpi::units::kilogram_square_meter_t DCMotorSim::GetJ() const {
return m_j;
}