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9359431bad
* Replace Matrix<> with Vector<> where vectors are explicitly intended. I found these via `rg "Eigen::Matrix<double, \w+, 1>"`. * Pass all Eigen matrices by const reference. I found these via `rg "\(Eigen"` on main (the initializer list constructors make more false positives). * Replace MakeMatrix() and operator<< usage with initializer list constructors. I found these via `rg MakeMatrix` and `rg "<<"` respectively. * Deprecate MakeMatrix()
138 lines
4.5 KiB
C++
138 lines
4.5 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 <array>
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#include <units/length.h>
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#include <units/mass.h>
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#include <units/velocity.h>
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#include "frc/simulation/LinearSystemSim.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 elevator mechanism.
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*/
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class ElevatorSim : public LinearSystemSim<2, 1, 1> {
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public:
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/**
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* Constructs a simulated elevator mechanism.
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*
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* @param plant The linear system that represents the elevator.
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* @param gearbox The type of and number of motors in your
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* elevator gearbox.
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* @param gearing The gearing of the elevator (numbers greater
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* than 1 represent reductions).
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* @param drumRadius The radius of the drum that your cable is
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* wrapped around.
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* @param minHeight The minimum allowed height of the elevator.
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* @param maxHeight The maximum allowed height of the elevator.
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* @param measurementStdDevs The standard deviation of the measurements.
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*/
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ElevatorSim(const LinearSystem<2, 1, 1>& plant, const DCMotor& gearbox,
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double gearing, units::meter_t drumRadius,
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units::meter_t minHeight, units::meter_t maxHeight,
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const std::array<double, 1>& measurementStdDevs = {0.0});
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/**
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* Constructs a simulated elevator mechanism.
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*
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* @param gearbox The type of and number of motors in your
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* elevator gearbox.
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* @param gearing The gearing of the elevator (numbers greater
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* than 1 represent reductions).
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* @param carriageMass The mass of the elevator carriage.
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* @param drumRadius The radius of the drum that your cable is
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* wrapped around.
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* @param minHeight The minimum allowed height of the elevator.
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* @param maxHeight The maximum allowed height of the elevator.
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* @param measurementStdDevs The standard deviation of the measurements.
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*/
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ElevatorSim(const DCMotor& gearbox, double gearing,
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units::kilogram_t carriageMass, units::meter_t drumRadius,
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units::meter_t minHeight, units::meter_t maxHeight,
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const std::array<double, 1>& measurementStdDevs = {0.0});
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/**
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* Returns whether the elevator would hit the lower limit.
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*
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* @param elevatorHeight The elevator height.
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* @return Whether the elevator would hit the lower limit.
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*/
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bool WouldHitLowerLimit(units::meter_t elevatorHeight) const;
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/**
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* Returns whether the elevator would hit the upper limit.
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*
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* @param elevatorHeight The elevator height.
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* @return Whether the elevator would hit the upper limit.
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*/
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bool WouldHitUpperLimit(units::meter_t elevatorHeight) const;
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/**
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* Returns whether the elevator has hit the lower limit.
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*
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* @return Whether the elevator has hit the lower limit.
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*/
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bool HasHitLowerLimit() const;
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/**
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* Returns whether the elevator has hit the upper limit.
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*
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* @return Whether the elevator has hit the upper limit.
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*/
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bool HasHitUpperLimit() const;
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/**
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* Returns the position of the elevator.
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*
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* @return The position of the elevator.
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*/
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units::meter_t GetPosition() const;
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/**
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* Returns the velocity of the elevator.
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*
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* @return The velocity of the elevator.
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*/
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units::meters_per_second_t GetVelocity() const;
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/**
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* Returns the elevator current draw.
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*
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* @return The elevator 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 elevator.
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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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protected:
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/**
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* Updates the state estimate of the elevator.
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*
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* @param currentXhat The current state estimate.
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* @param u The system inputs (voltage).
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* @param dt The time difference between controller updates.
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*/
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Eigen::Vector<double, 2> UpdateX(const Eigen::Vector<double, 2>& currentXhat,
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const Eigen::Vector<double, 1>& u,
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units::second_t dt) override;
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private:
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DCMotor m_gearbox;
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units::meter_t m_drumRadius;
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units::meter_t m_minHeight;
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units::meter_t m_maxHeight;
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double m_gearing;
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};
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} // namespace frc::sim
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