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https://github.com/wpilibsuite/allwpilib
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ab315e24c8
Modified Java constructors to take a variable number of measurement std devs argument with checks in place to make sure the right amount (or none) are passed into the constructor. All changes passed down to classes utilizing LinearSystemSim. Removed excess constructors Removed Java and C++ CurrentDrawAmps method as it doesn't belong in a generic (non electrical) linear system. Kept a non override version in all derived electrical classes. Also LinearSystemSim has now been made agnostic to electrical systems. Inputs don't have to be voltage. BatteryVoltage clamp function has been pushed down to electrical subclasses. Co-authored-by: Tyler Veness <calcmogul@gmail.com>
53 lines
1.9 KiB
C++
53 lines
1.9 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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#include "frc/simulation/DCMotorSim.h"
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#include <wpi/MathExtras.h>
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#include "frc/system/plant/LinearSystemId.h"
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using namespace frc;
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using namespace frc::sim;
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DCMotorSim::DCMotorSim(const LinearSystem<2, 1, 2>& plant,
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const DCMotor& gearbox, double gearing,
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const std::array<double, 2>& measurementStdDevs)
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: LinearSystemSim<2, 1, 2>(plant, measurementStdDevs),
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m_gearbox(gearbox),
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m_gearing(gearing) {}
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DCMotorSim::DCMotorSim(const DCMotor& gearbox, double gearing,
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units::kilogram_square_meter_t moi,
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const std::array<double, 2>& measurementStdDevs)
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: DCMotorSim(LinearSystemId::DCMotorSystem(gearbox, moi, gearing), gearbox,
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gearing, measurementStdDevs) {}
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void DCMotorSim::SetState(units::radian_t angularPosition,
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units::radians_per_second_t angularVelocity) {
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SetState(Vectord<2>{angularPosition, angularVelocity});
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}
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units::radian_t DCMotorSim::GetAngularPosition() const {
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return units::radian_t{GetOutput(0)};
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}
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units::radians_per_second_t DCMotorSim::GetAngularVelocity() const {
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return units::radians_per_second_t{GetOutput(1)};
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}
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units::ampere_t DCMotorSim::GetCurrentDraw() const {
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// I = V / R - omega / (Kv * R)
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// Reductions are greater than 1, so a reduction of 10:1 would mean the motor
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// is spinning 10x faster than the output.
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return m_gearbox.Current(units::radians_per_second_t{m_x(1)} * m_gearing,
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units::volt_t{m_u(0)}) *
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wpi::sgn(m_u(0));
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}
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void DCMotorSim::SetInputVoltage(units::volt_t voltage) {
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SetInput(Vectord<1>{voltage.value()});
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ClampInput(frc::RobotController::GetBatteryVoltage().value());
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}
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