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b61f08d3fa
This includes physics simulation support for arms/elevator models, as well as differential drivetrains. Swerve might be added at a later date. Co-authored-by: Claudius Tewari <cttewari@gmail.com> Co-authored-by: Prateek Machiraju <prateek.machiraju@gmail.com> Co-authored-by: Tyler Veness <calcmogul@gmail.com>
74 lines
2.7 KiB
C++
74 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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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 addNoise Whether the sim should automatically add some
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* encoder noise.
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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, bool addNoise = false,
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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 addNoise Whether the sim should automatically add some
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* encoder noise.
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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, bool addNoise = false,
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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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private:
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DCMotor m_motor;
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double m_gearing;
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};
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} // namespace frc::sim
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