wpi::sim::DCMotorSim Class Reference

Represents a simulated DC motor mechanism. More...

#include <wpi/simulation/DCMotorSim.hpp>

Inheritance diagram for wpi::sim::DCMotorSim:

Public Member Functions
	DCMotorSim (const wpi::math::LinearSystem< 2, 1, 2 > &plant, const wpi::math::DCMotor &gearbox, const std::array< double, 2 > &measurementStdDevs={0.0, 0.0})
	Creates a simulated DC motor mechanism.
void	SetState (wpi::units::radian_t angularPosition, wpi::units::radians_per_second_t angularVelocity)
	Sets the state of the DC motor.
void	SetAngle (wpi::units::radian_t angularPosition)
	Sets the DC motor's angular position.
void	SetAngularVelocity (wpi::units::radians_per_second_t angularVelocity)
	Sets the DC motor's angular velocity.
wpi::units::radian_t	GetAngularPosition () const
	Returns the DC motor position.
wpi::units::radians_per_second_t	GetAngularVelocity () const
	Returns the DC motor velocity.
wpi::units::radians_per_second_squared_t	GetAngularAcceleration () const
	Returns the DC motor acceleration.
wpi::units::newton_meter_t	GetTorque () const
	Returns the DC motor torque.
wpi::units::ampere_t	GetCurrentDraw () const
	Returns the DC motor current draw.
wpi::units::volt_t	GetInputVoltage () const
	Gets the input voltage for the DC motor.
void	SetInputVoltage (wpi::units::volt_t voltage)
	Sets the input voltage for the DC motor.
const wpi::math::DCMotor &	GetGearbox () const
	Returns the gearbox.
double	GetGearing () const
	Returns the gearing;.
wpi::units::kilogram_square_meter_t	GetJ () const
	Returns the moment of inertia.
void	SetState (const wpi::math::Vectord< States > &state)
	Sets the system state.
Public Member Functions inherited from wpi::sim::LinearSystemSim< 2, 1, 2 >
	LinearSystemSim (const wpi::math::LinearSystem< States, Inputs, Outputs > &system, const std::array< double, Outputs > &measurementStdDevs={})
	Creates a simulated generic linear system.
virtual	~LinearSystemSim ()=default
void	Update (wpi::units::second_t dt)
	Updates the simulation.
const wpi::math::Vectord< Outputs > &	GetOutput () const
	Returns the current output of the plant.
void	SetInput (const wpi::math::Vectord< Inputs > &u)
	Sets the system inputs (usually voltages).
const wpi::math::Vectord< Inputs > &	GetInput () const
	Returns the current input of the plant.
void	SetState (const wpi::math::Vectord< States > &state)
	Sets the system state.

Additional Inherited Members
Protected Member Functions inherited from wpi::sim::LinearSystemSim< 2, 1, 2 >
virtual wpi::math::Vectord< States >	UpdateX (const wpi::math::Vectord< States > &currentXhat, const wpi::math::Vectord< Inputs > &u, wpi::units::second_t dt)
	Updates the state estimate of the system.
void	ClampInput (double maxInput)
	Clamp the input vector such that no element exceeds the given voltage.
Protected Attributes inherited from wpi::sim::LinearSystemSim< 2, 1, 2 >
wpi::math::LinearSystem< States, Inputs, Outputs >	m_plant
	The plant that represents the linear system.
wpi::math::Vectord< States >	m_x
	State vector.
wpi::math::Vectord< Inputs >	m_u
	Input vector.
wpi::math::Vectord< Outputs >	m_y
	Output vector.
std::array< double, Outputs >	m_measurementStdDevs
	The standard deviations of measurements, used for adding noise to the measurements.

Detailed Description

Represents a simulated DC motor mechanism.

Constructor & Destructor Documentation

DCMotorSim()

wpi::sim::DCMotorSim::DCMotorSim	(	const wpi::math::LinearSystem< 2, 1, 2 > &	plant,
		const wpi::math::DCMotor &	gearbox,
		const std::array< double, 2 > &	measurementStdDevs = {0.0, 0.0} )

Creates a simulated DC motor mechanism.

Parameters

plant	The linear system representing the DC motor. This system can be created with wpi::math::Models::SingleJointedArmFromPhysicalConstants() or wpi::math::Models::SingleJointedArmFromSysId().
gearbox	The type of and number of motors in the DC motor gearbox.
measurementStdDevs	The standard deviation of the measurement noise.

Member Function Documentation

GetAngularAcceleration()

wpi::units::radians_per_second_squared_t wpi::sim::DCMotorSim::GetAngularAcceleration

(

)

const

Returns the DC motor acceleration.

Returns

The DC motor acceleration

GetAngularPosition()

wpi::units::radian_t wpi::sim::DCMotorSim::GetAngularPosition

(

)

const

Returns the DC motor position.

Returns

The DC motor position.

GetAngularVelocity()

wpi::units::radians_per_second_t wpi::sim::DCMotorSim::GetAngularVelocity

(

)

const

Returns the DC motor velocity.

Returns

The DC motor velocity.

GetCurrentDraw()

wpi::units::ampere_t wpi::sim::DCMotorSim::GetCurrentDraw

(

)

const

Returns the DC motor current draw.

Returns

The DC motor current draw.

GetGearbox()

const wpi::math::DCMotor & wpi::sim::DCMotorSim::GetGearbox

(

)

const

Returns the gearbox.

GetGearing()

double wpi::sim::DCMotorSim::GetGearing

(

)

const

Returns the gearing;.

GetInputVoltage()

wpi::units::volt_t wpi::sim::DCMotorSim::GetInputVoltage

(

)

const

Gets the input voltage for the DC motor.

Returns

The DC motor input voltage.

GetJ()

wpi::units::kilogram_square_meter_t wpi::sim::DCMotorSim::GetJ

(

)

const

Returns the moment of inertia.

GetTorque()

wpi::units::newton_meter_t wpi::sim::DCMotorSim::GetTorque

(

)

const

Returns the DC motor torque.

Returns

The DC motor torque

SetAngle()

void wpi::sim::DCMotorSim::SetAngle

(

wpi::units::radian_t

angularPosition

)

Sets the DC motor's angular position.

Parameters

angularPosition

The new position in radians.

SetAngularVelocity()

void wpi::sim::DCMotorSim::SetAngularVelocity

(

wpi::units::radians_per_second_t

angularVelocity

)

Sets the DC motor's angular velocity.

Parameters

angularVelocity

The new velocity in radians per second.

SetInputVoltage()

void wpi::sim::DCMotorSim::SetInputVoltage

(

wpi::units::volt_t

voltage

)

Sets the input voltage for the DC motor.

Parameters

voltage

The input voltage.

SetState() [1/2]

void wpi::sim::LinearSystemSim< States, Inputs, Outputs >::SetState ( const wpi::math::Vectord< States > & state )

inline

Sets the system state.

Parameters

state

The new state.

SetState() [2/2]

void wpi::sim::DCMotorSim::SetState	(	wpi::units::radian_t	angularPosition,
		wpi::units::radians_per_second_t	angularVelocity )

Sets the state of the DC motor.

Parameters

angularPosition	The new position
angularVelocity	The new velocity

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

• wpi/simulation/DCMotorSim.hpp