wpi::sim::BatterySim Class Reference

A utility class to simulate the robot battery. More...

#include <wpi/simulation/BatterySim.hpp>

Static Public Member Functions
static wpi::units::volt_t	Calculate (wpi::units::volt_t nominalVoltage, wpi::units::ohm_t resistance, std::span< const wpi::units::ampere_t > currents)
	Calculate the loaded battery voltage.
static wpi::units::volt_t	Calculate (wpi::units::volt_t nominalVoltage, wpi::units::ohm_t resistance, std::initializer_list< wpi::units::ampere_t > currents)
	Calculate the loaded battery voltage.
static wpi::units::volt_t	Calculate (std::span< const wpi::units::ampere_t > currents)
	Calculate the loaded battery voltage.
static wpi::units::volt_t	Calculate (std::initializer_list< wpi::units::ampere_t > currents)
	Calculate the loaded battery voltage.

Detailed Description

A utility class to simulate the robot battery.

Member Function Documentation

Calculate() [1/4]

wpi::units::volt_t wpi::sim::BatterySim::Calculate ( std::initializer_list< wpi::units::ampere_t > currents )

inlinestatic

Calculate the loaded battery voltage.

Use this with RoboRioSimSetVInVoltage(double) to set the simulated battery voltage, which can then be retrieved with the RobotController::GetBatteryVoltage() method. This function assumes a nominal voltage of 12V and a resistance of 20 milliohms (0.020 ohms).

Parameters

currents

The currents drawn from the battery.

Returns

The battery's voltage under load.

Calculate() [2/4]

wpi::units::volt_t wpi::sim::BatterySim::Calculate ( std::span< const wpi::units::ampere_t > currents )

inlinestatic

Calculate the loaded battery voltage.

Use this with RoboRioSimSetVInVoltage(double) to set the simulated battery voltage, which can then be retrieved with the RobotController::GetBatteryVoltage() method. This function assumes a nominal voltage of 12V and a resistance of 20 milliohms (0.020 ohms).

Parameters

currents

The currents drawn from the battery.

Returns

The battery's voltage under load.

Calculate() [3/4]

wpi::units::volt_t wpi::sim::BatterySim::Calculate ( wpi::units::volt_t nominalVoltage, wpi::units::ohm_t resistance, std::initializer_list< wpi::units::ampere_t > currents )

inlinestatic

Calculate the loaded battery voltage.

Use this with RoboRioSim::SetVInVoltage(double) to set the simulated battery voltage, which can then be retrieved with the RobotController::GetBatteryVoltage() method.

Parameters

nominalVoltage	The nominal battery voltage. Usually 12v.
resistance	The forward resistance of the battery. Most batteries are at or below 20 milliohms.
currents	The currents drawn from the battery.

Returns

The battery's voltage under load.

Calculate() [4/4]

wpi::units::volt_t wpi::sim::BatterySim::Calculate ( wpi::units::volt_t nominalVoltage, wpi::units::ohm_t resistance, std::span< const wpi::units::ampere_t > currents )

inlinestatic

Calculate the loaded battery voltage.

Use this with RoboRioSim::SetVInVoltage(double) to set the simulated battery voltage, which can then be retrieved with the RobotController::GetBatteryVoltage() method.

Parameters

nominalVoltage	The nominal battery voltage. Usually 12v.
resistance	The forward resistance of the battery. Most batteries are at or below 20 milliohms.
currents	The currents drawn from the battery.

Returns

The battery's voltage under load.

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The documentation for this class was generated from the following file:

• wpi/simulation/BatterySim.hpp