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[wpilib] Allow disabling ElevatorSim gravity (#4145)

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Closes #4144.
This commit is contained in:
Tyler Veness
2022-04-24 07:19:18 -07:00
committed by GitHub
parent aaa69f6717
commit 9d20ab3024
9 changed files with 97 additions and 54 deletions
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18
wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
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@@ -15,19 +15,20 @@ using namespace frc::sim;
ElevatorSim::ElevatorSim(const LinearSystem<2, 1, 1>& plant,
const DCMotor& gearbox, double gearing,
units::meter_t drumRadius, units::meter_t minHeight,
units::meter_t maxHeight,
units::meter_t maxHeight, bool simulateGravity,
const std::array<double, 1>& measurementStdDevs)
: LinearSystemSim(plant, measurementStdDevs),
m_gearbox(gearbox),
m_drumRadius(drumRadius),
m_minHeight(minHeight),
m_maxHeight(maxHeight),
m_gearing(gearing) {}
m_gearing(gearing),
m_simulateGravity(simulateGravity) {}
ElevatorSim::ElevatorSim(const DCMotor& gearbox, double gearing,
units::kilogram_t carriageMass,
units::meter_t drumRadius, units::meter_t minHeight,
units::meter_t maxHeight,
units::meter_t maxHeight, bool simulateGravity,
const std::array<double, 1>& measurementStdDevs)
: LinearSystemSim(LinearSystemId::ElevatorSystem(gearbox, carriageMass,
drumRadius, gearing),
@@ -36,7 +37,8 @@ ElevatorSim::ElevatorSim(const DCMotor& gearbox, double gearing,
m_drumRadius(drumRadius),
m_minHeight(minHeight),
m_maxHeight(maxHeight),
m_gearing(gearing) {}
m_gearing(gearing),
m_simulateGravity(simulateGravity) {}
bool ElevatorSim::WouldHitLowerLimit(units::meter_t elevatorHeight) const {
return elevatorHeight < m_minHeight;
@@ -87,8 +89,12 @@ Eigen::Vector<double, 2> ElevatorSim::UpdateX(
auto updatedXhat = RKDP(
[&](const Eigen::Vector<double, 2>& x,
const Eigen::Vector<double, 1>& u_) -> Eigen::Vector<double, 2> {
return m_plant.A() * x + m_plant.B() * u_ +
Eigen::Vector<double, 2>{0.0, -9.8};
Eigen::Vector<double, 2> xdot = m_plant.A() * x + m_plant.B() * u;
if (m_simulateGravity) {
xdot += Eigen::Vector<double, 2>{0.0, -9.8};
}
return xdot;
},
currentXhat, u, dt);
// Check for collision after updating x-hat.

10
wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
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@@ -18,13 +18,13 @@ using namespace frc::sim;
SingleJointedArmSim::SingleJointedArmSim(
const LinearSystem<2, 1, 1>& system, const DCMotor& gearbox, double gearing,
units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, units::kilogram_t mass, bool simulateGravity,
units::radian_t maxAngle, units::kilogram_t armMass, bool simulateGravity,
const std::array<double, 1>& measurementStdDevs)
: LinearSystemSim<2, 1, 1>(system, measurementStdDevs),
m_r(armLength),
m_minAngle(minAngle),
m_maxAngle(maxAngle),
m_mass(mass),
m_armMass(armMass),
m_gearbox(gearbox),
m_gearing(gearing),
m_simulateGravity(simulateGravity) {}
@@ -32,11 +32,11 @@ SingleJointedArmSim::SingleJointedArmSim(
SingleJointedArmSim::SingleJointedArmSim(
const DCMotor& gearbox, double gearing, units::kilogram_square_meter_t moi,
units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, units::kilogram_t mass, bool simulateGravity,
units::radian_t maxAngle, units::kilogram_t armMass, bool simulateGravity,
const std::array<double, 1>& measurementStdDevs)
: SingleJointedArmSim(
LinearSystemId::SingleJointedArmSystem(gearbox, moi, gearing),
gearbox, gearing, armLength, minAngle, maxAngle, mass,
gearbox, gearing, armLength, minAngle, maxAngle, armMass,
simulateGravity, measurementStdDevs) {}
bool SingleJointedArmSim::WouldHitLowerLimit(units::radian_t armAngle) const {
@@ -94,7 +94,7 @@ Eigen::Vector<double, 2> SingleJointedArmSim::UpdateX(
if (m_simulateGravity) {
xdot += Eigen::Vector<double, 2>{
0.0, (m_mass * m_r * -9.8 * 3.0 / (m_mass * m_r * m_r) *
0.0, (m_armMass * m_r * -9.8 * 3.0 / (m_armMass * m_r * m_r) *
std::cos(x(0)))
.value()};
}

5
wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
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@@ -31,11 +31,13 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
* 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 measurementStdDevs The standard deviation of the measurements.
*/
ElevatorSim(const LinearSystem<2, 1, 1>& plant, const DCMotor& gearbox,
double gearing, units::meter_t drumRadius,
units::meter_t minHeight, units::meter_t maxHeight,
bool simulateGravity,
const std::array<double, 1>& measurementStdDevs = {0.0});
/**
@@ -50,11 +52,13 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
* 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 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,
const std::array<double, 1>& measurementStdDevs = {0.0});
/**
@@ -133,5 +137,6 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
units::meter_t m_minHeight;
units::meter_t m_maxHeight;
double m_gearing;
bool m_simulateGravity;
};
} // namespace frc::sim

10
wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
View File

@@ -30,14 +30,14 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
* @param armLength The length of the arm.
* @param minAngle The minimum angle that the arm is capable of.
* @param maxAngle The maximum angle that the arm is capable of.
* @param mass The mass of the arm.
* @param measurementStdDevs The standard deviations of the measurements.
* @param armMass The mass of the arm.
* @param simulateGravity Whether gravity should be simulated or not.
* @param measurementStdDevs The standard deviations of the measurements.
*/
SingleJointedArmSim(const LinearSystem<2, 1, 1>& system,
const DCMotor& gearbox, double gearing,
units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, units::kilogram_t mass,
units::radian_t maxAngle, units::kilogram_t armMass,
bool simulateGravity,
const std::array<double, 1>& measurementStdDevs = {0.0});
/**
@@ -52,8 +52,8 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
* @param minAngle The minimum angle that the arm is capable of.
* @param maxAngle The maximum angle that the arm is capable of.
* @param mass The mass of the arm.
* @param measurementStdDevs The standard deviation of the measurement noise.
* @param simulateGravity Whether gravity should be simulated or not.
* @param measurementStdDevs The standard deviation of the measurement noise.
*/
SingleJointedArmSim(const DCMotor& gearbox, double gearing,
units::kilogram_square_meter_t moi,
@@ -150,7 +150,7 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
units::meter_t m_r;
units::radian_t m_minAngle;
units::radian_t m_maxAngle;
units::kilogram_t m_mass;
units::kilogram_t m_armMass;
const DCMotor m_gearbox;
double m_gearing;
bool m_simulateGravity;