mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
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>
56 lines
2.1 KiB
C++
56 lines
2.1 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2020 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <numeric>
|
|
|
|
#include <units/current.h>
|
|
#include <units/impedance.h>
|
|
#include <units/voltage.h>
|
|
|
|
namespace frc::sim {
|
|
|
|
class BatterySim {
|
|
public:
|
|
/**
|
|
* Calculate the loaded battery voltage. Use this with
|
|
* {@link RoboRioSim#setVInVoltage(double)} to set the simulated battery
|
|
* voltage, which can then be retrieved with the {@link
|
|
* RobotController#getBatteryVoltage()} method.
|
|
*
|
|
* @param nominalVoltage The nominal battery voltage. Usually 12v.
|
|
* @param resistance The forward resistance of the battery. Most batteries
|
|
* are at or below 20 milliohms.
|
|
* @param currents The currents drawn from the battery.
|
|
* @return The battery's voltage under load.
|
|
*/
|
|
static units::volt_t Calculate(
|
|
units::volt_t nominalVoltage, units::ohm_t resistance,
|
|
std::initializer_list<units::ampere_t> currents) {
|
|
return nominalVoltage -
|
|
std::accumulate(currents.begin(), currents.end(), 0_A) * resistance;
|
|
}
|
|
|
|
/**
|
|
* Calculate the loaded battery voltage. Use this with
|
|
* {@link RoboRioSim#setVInVoltage(double)} to set the simulated battery
|
|
* voltage, which can then be retrieved with the {@link
|
|
* RobotController#getBatteryVoltage()} method. This function assumes a
|
|
* nominal voltage of 12v and a resistance of 20 milliohms (0.020 ohms)
|
|
*
|
|
* @param currents The currents drawn from the battery.
|
|
* @return The battery's voltage under load.
|
|
*/
|
|
static units::volt_t Calculate(
|
|
std::initializer_list<units::ampere_t> currents) {
|
|
return Calculate(12_V, 0.02_Ohm, currents);
|
|
}
|
|
};
|
|
|
|
} // namespace frc::sim
|