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https://github.com/wpilibsuite/allwpilib
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132 lines
3.2 KiB
C++
132 lines
3.2 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 <units/angle.h>
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#include <units/angular_acceleration.h>
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#include <units/angular_velocity.h>
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#include <units/moment_of_inertia.h>
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#include <units/torque.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 DC motor mechanism.
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*/
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class DCMotorSim : public LinearSystemSim<2, 1, 2> {
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public:
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/**
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* Creates a simulated DC motor mechanism.
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*
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* @param plant The linear system representing the DC motor. This
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* system can be created with LinearSystemId::DCMotorSystem(). If
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* LinearSystemId::DCMotorSystem(kV, kA) is used, the distance unit must be
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* radians.
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* @param gearbox The type of and number of motors in the DC motor
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* gearbox.
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* @param measurementStdDevs The standard deviation of the measurement noise.
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*/
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DCMotorSim(const LinearSystem<2, 1, 2>& plant, const DCMotor& gearbox,
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const std::array<double, 2>& measurementStdDevs = {0.0, 0.0});
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using LinearSystemSim::SetState;
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/**
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* Sets the state of the DC motor.
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*
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* @param angularPosition The new position
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* @param angularVelocity The new velocity
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*/
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void SetState(units::radian_t angularPosition,
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units::radians_per_second_t angularVelocity);
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/**
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* Sets the DC motor's angular position.
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*
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* @param angularPosition The new position in radians.
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*/
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void SetAngle(units::radian_t angularPosition);
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/**
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* Sets the DC motor's angular velocity.
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*
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* @param angularVelocity The new velocity in radians per second.
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*/
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void SetAngularVelocity(units::radians_per_second_t angularVelocity);
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/**
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* Returns the DC motor position.
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*
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* @return The DC motor position.
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*/
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units::radian_t GetAngularPosition() const;
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/**
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* Returns the DC motor velocity.
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*
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* @return The DC motor 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 DC motor acceleration.
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*
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* @return The DC motor acceleration
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*/
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units::radians_per_second_squared_t GetAngularAcceleration() const;
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/**
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* Returns the DC motor torque.
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*
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* @return The DC motor torque
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*/
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units::newton_meter_t GetTorque() const;
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/**
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* Returns the DC motor current draw.
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*
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* @return The DC motor current draw.
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*/
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units::ampere_t GetCurrentDraw() const;
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/**
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* Gets the input voltage for the DC motor.
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*
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* @return The DC motor input voltage.
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*/
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units::volt_t GetInputVoltage() const;
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/**
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* Sets the input voltage for the DC motor.
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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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/**
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* Returns the gearbox.
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*/
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const DCMotor& GetGearbox() const;
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/**
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* Returns the gearing;
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*/
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double GetGearing() const;
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/**
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* Returns the moment of inertia
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*/
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units::kilogram_square_meter_t GetJ() const;
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private:
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DCMotor m_gearbox;
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double m_gearing;
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units::kilogram_square_meter_t m_j;
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};
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} // namespace frc::sim
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