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[wpilibc] BatterySim: Provide non-initializer list versions of Calculate (#4076)

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Dustin Spicuzza
2022-03-14 13:09:55 -04:00
committed by GitHub
parent a3eea9958e
commit a2fa5e3ff7
1 changed files with 34 additions and 0 deletions
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34
wpilibc/src/main/native/include/frc/simulation/BatterySim.h
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@@ -9,6 +9,7 @@
#include <units/current.h>
#include <units/impedance.h>
#include <units/voltage.h>
#include <wpi/span.h>
namespace frc::sim {
@@ -17,6 +18,25 @@ namespace frc::sim {
*/
class BatterySim {
public:
/**
* Calculate the loaded battery voltage. Use this with
* RoboRioSim::SetVInVoltage(double) to set the simulated battery voltage,
* which can then be retrieved with the RobotController::GetBatteryVoltage()
* method.
*
* @param nominalVoltage The nominal battery voltage. Usually 12v.
* @param resistance The forward resistance of the battery. Most batteries
* are at or below 20 milliohms.
* @param currents The currents drawn from the battery.
* @return The battery's voltage under load.
*/
static units::volt_t Calculate(units::volt_t nominalVoltage,
units::ohm_t resistance,
wpi::span<const units::ampere_t> currents) {
return nominalVoltage -
std::accumulate(currents.begin(), currents.end(), 0_A) * resistance;
}
/**
* Calculate the loaded battery voltage. Use this with
* RoboRioSim::SetVInVoltage(double) to set the simulated battery voltage,
@@ -36,6 +56,20 @@ class BatterySim {
std::accumulate(currents.begin(), currents.end(), 0_A) * resistance;
}
/**
* Calculate the loaded battery voltage. Use this with
* RoboRioSimSetVInVoltage(double) to set the simulated battery voltage, which
* can then be retrieved with the RobotController::GetBatteryVoltage() method.
* This function assumes a nominal voltage of 12V and a resistance of 20
* milliohms (0.020 ohms).
*
* @param currents The currents drawn from the battery.
* @return The battery's voltage under load.
*/
static units::volt_t Calculate(wpi::span<const units::ampere_t> currents) {
return Calculate(12_V, 0.02_Ohm, currents);
}
/**
* Calculate the loaded battery voltage. Use this with
* RoboRioSimSetVInVoltage(double) to set the simulated battery voltage, which