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43 lines
1.6 KiB
C++
43 lines
1.6 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/simulation/FlywheelSim.h"
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#include <wpi/MathExtras.h>
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#include "frc/system/plant/LinearSystemId.h"
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using namespace frc;
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using namespace frc::sim;
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FlywheelSim::FlywheelSim(const LinearSystem<1, 1, 1>& plant,
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const DCMotor& gearbox, double gearing,
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const std::array<double, 1>& measurementStdDevs)
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: LinearSystemSim<1, 1, 1>(plant, measurementStdDevs),
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m_gearbox(gearbox),
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m_gearing(gearing) {}
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FlywheelSim::FlywheelSim(const DCMotor& gearbox, double gearing,
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units::kilogram_square_meter_t moi,
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const std::array<double, 1>& measurementStdDevs)
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: FlywheelSim(LinearSystemId::FlywheelSystem(gearbox, moi, gearing),
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gearbox, gearing, measurementStdDevs) {}
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units::radians_per_second_t FlywheelSim::GetAngularVelocity() const {
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return units::radians_per_second_t{GetOutput(0)};
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}
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units::ampere_t FlywheelSim::GetCurrentDraw() const {
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// I = V / R - omega / (Kv * R)
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// Reductions are greater than 1, so a reduction of 10:1 would mean the motor
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// is spinning 10x faster than the output.
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return m_gearbox.Current(GetAngularVelocity() * m_gearing,
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units::volt_t{m_u(0)}) *
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wpi::sgn(m_u(0));
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}
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void FlywheelSim::SetInputVoltage(units::volt_t voltage) {
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SetInput(Eigen::Vector<double, 1>{voltage.value()});
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}
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