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https://github.com/wpilibsuite/allwpilib
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108 lines
2.9 KiB
C++
108 lines
2.9 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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#pragma once
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#include "wpi/math/system/LinearSystem.hpp"
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#include "wpi/math/system/plant/DCMotor.hpp"
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#include "wpi/simulation/LinearSystemSim.hpp"
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#include "wpi/units/angular_acceleration.hpp"
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#include "wpi/units/angular_velocity.hpp"
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#include "wpi/units/moment_of_inertia.hpp"
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#include "wpi/units/torque.hpp"
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namespace wpi::sim {
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/**
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* Represents a simulated flywheel mechanism.
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*/
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class FlywheelSim : public LinearSystemSim<1, 1, 1> {
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public:
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/**
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* Creates a simulated flywheel mechanism.
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*
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* @param plant The linear system representing the flywheel. This
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* system can be created with
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* wpi::math::LinearSystemId::FlywheelSystem() or
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* wpi::math::LinearSystemId::IdentifyVelocitySystem().
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* @param gearbox The type of and number of motors in the flywheel
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* gearbox.
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* @param measurementStdDevs The standard deviation of the measurement noise.
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*/
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FlywheelSim(const wpi::math::LinearSystem<1, 1, 1>& plant,
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const wpi::math::DCMotor& gearbox,
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const std::array<double, 1>& measurementStdDevs = {0.0});
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using LinearSystemSim::SetState;
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/**
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* Sets the flywheel's angular velocity.
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*
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* @param velocity The new velocity
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*/
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void SetVelocity(wpi::units::radians_per_second_t velocity);
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/**
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* Returns the flywheel's velocity.
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*
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* @return The flywheel's velocity.
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*/
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wpi::units::radians_per_second_t GetAngularVelocity() const;
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/**
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* Returns the flywheel's acceleration.
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*
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* @return The flywheel's acceleration
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*/
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wpi::units::radians_per_second_squared_t GetAngularAcceleration() const;
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/**
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* Returns the flywheel's torque.
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*
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* @return The flywheel's torque
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*/
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wpi::units::newton_meter_t GetTorque() const;
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/**
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* Returns the flywheel's current draw.
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*
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* @return The flywheel's current draw.
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*/
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wpi::units::ampere_t GetCurrentDraw() const;
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/**
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* Gets the input voltage for the flywheel.
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*
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* @return The flywheel input voltage.
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*/
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wpi::units::volt_t GetInputVoltage() const;
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/**
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* Sets the input voltage for the flywheel.
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*
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* @param voltage The input voltage.
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*/
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void SetInputVoltage(wpi::units::volt_t voltage);
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/**
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* Returns the gearbox.
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*/
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wpi::math::DCMotor Gearbox() const { return m_gearbox; }
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/**
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* Returns the gearing;
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*/
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double Gearing() const { return m_gearing; }
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/**
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* Returns the moment of inertia
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*/
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wpi::units::kilogram_square_meter_t J() const { return m_j; }
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private:
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wpi::math::DCMotor m_gearbox;
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double m_gearing;
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wpi::units::kilogram_square_meter_t m_j;
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};
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} // namespace wpi::sim
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