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8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
74 lines
2.3 KiB
C++
74 lines
2.3 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 <units/angular_velocity.h>
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#include <units/moment_of_inertia.h>
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#include "frc/simulation/LinearSystemSim.h"
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#include "frc/system/LinearSystem.h"
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#include "frc/system/plant/DCMotor.h"
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namespace frc::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 flywhel mechanism.
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*
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* @param plant The linear system representing the flywheel.
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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 gearing The gearing of the flywheel (numbers greater than
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* 1 represent reductions).
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* @param measurementStdDevs The standard deviation of the measurement noise.
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*/
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FlywheelSim(const LinearSystem<1, 1, 1>& plant, const DCMotor& gearbox,
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double gearing,
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const std::array<double, 1>& measurementStdDevs = {0.0});
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/**
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* Creates a simulated flywhel mechanism.
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*
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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 gearing The gearing of the flywheel (numbers greater than
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* 1 represent reductions).
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* @param moi The moment of inertia of the flywheel.
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* @param measurementStdDevs The standard deviation of the measurement noise.
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*/
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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 = {0.0});
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/**
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* Returns the flywheel velocity.
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*
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* @return The flywheel velocity.
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*/
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units::radians_per_second_t GetAngularVelocity() const;
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/**
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* Returns the flywheel current draw.
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*
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* @return The flywheel current draw.
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*/
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units::ampere_t GetCurrentDraw() const override;
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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(units::volt_t voltage);
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private:
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DCMotor m_gearbox;
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double m_gearing;
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};
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} // namespace frc::sim
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