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[wpimath] LinearSystemId: Add DCMotorSystem overload (#5770)

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The goal of this addition is to allow LinearSystemId.createDCMotorSystem to use kV and KA instead of the moment of inertia, DCMotor object, and gearing.
This commit is contained in:
narmstro2020
2023-10-17 13:11:34 -04:00
committed by GitHub
parent b3eb64b0f7
commit f98c943445
2 changed files with 75 additions and 0 deletions
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33
wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
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@@ -122,6 +122,39 @@ public final class LinearSystemId {
new Matrix<>(Nat.N2(), Nat.N1()));
}
/**
* Create a state-space model of a DC motor system. The states of the system are [angular
* position, angular velocity], inputs are [voltage], and outputs are [angular position, angular
* velocity].
*
* <p>The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use the
* {@link edu.wpi.first.math.util.Units} class for converting between unit types.
*
* <p>The parameters provided by the user are from this feedforward model:
*
* <p>u = K_v v + K_a a
*
* @param kV The velocity gain, in volts/(unit/sec)
* @param kA The acceleration gain, in volts/(unit/sec^2)
* @return A LinearSystem representing the given characterized constants.
* @throws IllegalArgumentException if kV &lt;= 0 or kA &lt;= 0.
* @see <a href="https://github.com/wpilibsuite/sysid">https://github.com/wpilibsuite/sysid</a>
*/
public static LinearSystem<N2, N1, N2> createDCMotorSystem(double kV, double kA) {
if (kV <= 0.0) {
throw new IllegalArgumentException("Kv must be greater than zero.");
}
if (kA <= 0.0) {
throw new IllegalArgumentException("Ka must be greater than zero.");
}
return new LinearSystem<>(
Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, -kV / kA),
VecBuilder.fill(0, 1 / kA),
Matrix.eye(Nat.N2()),
new Matrix<>(Nat.N2(), Nat.N1()));
}
/**
* Create a state-space model of a differential drive drivetrain. In this model, the states are
* [left velocity, right velocity]ᵀ, inputs are [left voltage, right voltage]ᵀ, and outputs are