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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.
53 lines
1.8 KiB
C++
53 lines
1.8 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 <numeric>
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#include <units/current.h>
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#include <units/impedance.h>
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#include <units/voltage.h>
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namespace frc::sim {
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class BatterySim {
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public:
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/**
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* Calculate the loaded battery voltage. Use this with
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* {@link RoboRioSim#setVInVoltage(double)} to set the simulated battery
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* voltage, which can then be retrieved with the {@link
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* RobotController#getBatteryVoltage()} method.
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*
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* @param nominalVoltage The nominal battery voltage. Usually 12v.
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* @param resistance The forward resistance of the battery. Most batteries
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* are at or below 20 milliohms.
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* @param currents The currents drawn from the battery.
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* @return The battery's voltage under load.
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*/
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static units::volt_t Calculate(
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units::volt_t nominalVoltage, units::ohm_t resistance,
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std::initializer_list<units::ampere_t> currents) {
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return nominalVoltage -
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std::accumulate(currents.begin(), currents.end(), 0_A) * resistance;
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}
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/**
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* Calculate the loaded battery voltage. Use this with
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* {@link RoboRioSim#setVInVoltage(double)} to set the simulated battery
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* voltage, which can then be retrieved with the {@link
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* RobotController#getBatteryVoltage()} method. This function assumes a
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* nominal voltage of 12v and a resistance of 20 milliohms (0.020 ohms)
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*
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* @param currents The currents drawn from the battery.
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* @return The battery's voltage under load.
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*/
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static units::volt_t Calculate(
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std::initializer_list<units::ampere_t> currents) {
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return Calculate(12_V, 0.02_Ohm, currents);
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}
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};
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} // namespace frc::sim
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