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https://github.com/wpilibsuite/allwpilib
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335e7dd89d
- Add a constructor parameter to configure the initial angle of the arm - Also reorganizes cascading constructors for Java
107 lines
3.7 KiB
C++
107 lines
3.7 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/ElevatorSim.h"
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#include <wpi/MathExtras.h>
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#include "frc/system/NumericalIntegration.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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ElevatorSim::ElevatorSim(const LinearSystem<2, 1, 1>& plant,
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const DCMotor& gearbox, double gearing,
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units::meter_t drumRadius, units::meter_t minHeight,
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units::meter_t maxHeight, bool simulateGravity,
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units::meter_t startingHeight,
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const std::array<double, 1>& measurementStdDevs)
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: LinearSystemSim(plant, measurementStdDevs),
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m_gearbox(gearbox),
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m_drumRadius(drumRadius),
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m_minHeight(minHeight),
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m_maxHeight(maxHeight),
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m_gearing(gearing),
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m_simulateGravity(simulateGravity) {
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SetState(
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frc::Vectord<2>{std::clamp(startingHeight, minHeight, maxHeight), 0.0});
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}
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ElevatorSim::ElevatorSim(const DCMotor& gearbox, double gearing,
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units::kilogram_t carriageMass,
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units::meter_t drumRadius, units::meter_t minHeight,
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units::meter_t maxHeight, bool simulateGravity,
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units::meter_t startingHeight,
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const std::array<double, 1>& measurementStdDevs)
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: ElevatorSim(LinearSystemId::ElevatorSystem(gearbox, carriageMass,
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drumRadius, gearing),
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gearbox, gearing, drumRadius, minHeight, maxHeight,
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simulateGravity, startingHeight, measurementStdDevs) {}
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bool ElevatorSim::WouldHitLowerLimit(units::meter_t elevatorHeight) const {
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return elevatorHeight <= m_minHeight;
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}
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bool ElevatorSim::WouldHitUpperLimit(units::meter_t elevatorHeight) const {
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return elevatorHeight >= m_maxHeight;
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}
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bool ElevatorSim::HasHitLowerLimit() const {
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return WouldHitLowerLimit(units::meter_t{m_y(0)});
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}
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bool ElevatorSim::HasHitUpperLimit() const {
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return WouldHitUpperLimit(units::meter_t{m_y(0)});
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}
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units::meter_t ElevatorSim::GetPosition() const {
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return units::meter_t{m_y(0)};
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}
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units::meters_per_second_t ElevatorSim::GetVelocity() const {
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return units::meters_per_second_t{m_x(1)};
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}
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units::ampere_t ElevatorSim::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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// v = r w, so w = v / r
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units::meters_per_second_t velocity{m_x(1)};
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units::radians_per_second_t motorVelocity =
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velocity / m_drumRadius * m_gearing * 1_rad;
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// Perform calculation and return.
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return m_gearbox.Current(motorVelocity, units::volt_t{m_u(0)}) *
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wpi::sgn(m_u(0));
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}
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void ElevatorSim::SetInputVoltage(units::volt_t voltage) {
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SetInput(Vectord<1>{voltage.value()});
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}
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Vectord<2> ElevatorSim::UpdateX(const Vectord<2>& currentXhat,
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const Vectord<1>& u, units::second_t dt) {
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auto updatedXhat = RKDP(
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[&](const Vectord<2>& x, const Vectord<1>& u_) -> Vectord<2> {
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Vectord<2> xdot = m_plant.A() * x + m_plant.B() * u;
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if (m_simulateGravity) {
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xdot += Vectord<2>{0.0, -9.8};
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}
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return xdot;
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},
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currentXhat, u, dt);
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// Check for collision after updating x-hat.
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if (WouldHitLowerLimit(units::meter_t{updatedXhat(0)})) {
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return Vectord<2>{m_minHeight.value(), 0.0};
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}
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if (WouldHitUpperLimit(units::meter_t{updatedXhat(0)})) {
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return Vectord<2>{m_maxHeight.value(), 0.0};
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}
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return updatedXhat;
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}
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