This is to allow 3rd party sim providers (eg vendors) to subclass this class so that the register methods of their sim classes can return CallbackStores like the builtin sims.
Although it was already possible to create such a subclass but passing dummy parameters to one of the other constructors, this eliminates the need to pass such dummy parameters and makes it clearer that subclassing is allowed.
This is a cleanup of the FlywheelSim class with a few added features.
- One FlywheelSim constructor that takes a plant, DCMotor, and a optional number of measurementStdDevs. The documentation now states how to construct the plant either through LinearSystemId.createFlywheelSystem or identifyVelocitySystem.
- The gearbox, gearing and moment of Inertia (J) are now private final fields. The gearing is determined from the plant in the constructor as well as the moment of inertia. There are getter methods that allow the flywheelSim to return the gearbox, gearing, and moment of inertia.
- The getCurrentDrawAmps function now uses m_x instead of getAngularVelocityRadPerSec in accordance with more accuracy and matches the patter in other sims.
- Added getter methods for the InputVoltage, angularAcceleration and torque
- (Java only) A third getter method for returning the AngularVelocity of the flywheel using a MutableMeasure as a backing field that is set when getAngularVelocity is called. This summarily returns the angularVelocity as just a Measure object. This allows the user of this class to handle unit conversions with less numerical manipulation. Alterations in C++ for this feature were not needed.
Modified Java constructors to take a variable number of measurement std devs argument with checks in place to make sure the right amount (or none) are passed into the constructor. All changes passed down to classes utilizing LinearSystemSim.
Removed excess constructors
Removed Java and C++ CurrentDrawAmps method as it doesn't belong in a generic (non electrical) linear system. Kept a non override version in all derived electrical classes.
Also LinearSystemSim has now been made agnostic to electrical systems. Inputs don't have to be voltage. BatteryVoltage clamp function has been pushed down to electrical subclasses.
Co-authored-by: Tyler Veness <calcmogul@gmail.com>
DataLog is now a base class, with DataLogBackgroundWriter being the
background thread version and DataLogWriter being a non-threaded version.
Also split the C header into a separate file to make it more wpiformat friendly.
C++ doesn't need this because it supports value types, which are much
cheaper to construct. constexpr is also available to make construction
zero-cost.
Uses getUsableSpace in Java, matching how C++ determines available space (C++ calls it available, but they mean the same thing.) This fixes a bug where logs wouldn't get deleted due to incorrect available space detection.
The DataLog thread now also checks if the state was marked as stopped after a call to StartLogFile.
On Rio, we simply want to restart the robot program as quickly as possible,
and don't want to risk a hang somewhere that will keep that from happening.
The main downside of this is it won't wait for threads to finish (e.g. data logs won't get a final flush).
