wpi::sim::FlywheelSim Class Reference

Represents a simulated flywheel mechanism. More...

#include <wpi/simulation/FlywheelSim.hpp>

Inheritance diagram for wpi::sim::FlywheelSim:

Public Member Functions
	FlywheelSim (const wpi::math::LinearSystem< 1, 1, 1 > &plant, const wpi::math::DCMotor &gearbox, const std::array< double, 1 > &measurementStdDevs={0.0})
	Creates a simulated flywheel mechanism.
void	SetVelocity (wpi::units::radians_per_second_t velocity)
	Sets the flywheel's angular velocity.
wpi::units::radians_per_second_t	GetAngularVelocity () const
	Returns the flywheel's velocity.
wpi::units::radians_per_second_squared_t	GetAngularAcceleration () const
	Returns the flywheel's acceleration.
wpi::units::newton_meter_t	GetTorque () const
	Returns the flywheel's torque.
wpi::units::ampere_t	GetCurrentDraw () const
	Returns the flywheel's current draw.
wpi::units::volt_t	GetInputVoltage () const
	Gets the input voltage for the flywheel.
void	SetInputVoltage (wpi::units::volt_t voltage)
	Sets the input voltage for the flywheel.
wpi::math::DCMotor	Gearbox () const
	Returns the gearbox.
double	Gearing () const
	Returns the gearing;.
wpi::units::kilogram_square_meter_t	J () 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< 1, 1, 1 >
	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< 1, 1, 1 >
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< 1, 1, 1 >
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 flywheel mechanism.

Constructor & Destructor Documentation

FlywheelSim()

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

Creates a simulated flywheel mechanism.

Parameters

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

Member Function Documentation

Gearbox()

wpi::math::DCMotor wpi::sim::FlywheelSim::Gearbox ( ) const

inline

Returns the gearbox.

Gearing()

double wpi::sim::FlywheelSim::Gearing ( ) const

inline

Returns the gearing;.

GetAngularAcceleration()

wpi::units::radians_per_second_squared_t wpi::sim::FlywheelSim::GetAngularAcceleration

(

)

const

Returns the flywheel's acceleration.

Returns

The flywheel's acceleration

GetAngularVelocity()

wpi::units::radians_per_second_t wpi::sim::FlywheelSim::GetAngularVelocity

(

)

const

Returns the flywheel's velocity.

Returns

The flywheel's velocity.

GetCurrentDraw()

wpi::units::ampere_t wpi::sim::FlywheelSim::GetCurrentDraw

(

)

const

Returns the flywheel's current draw.

Returns

The flywheel's current draw.

GetInputVoltage()

wpi::units::volt_t wpi::sim::FlywheelSim::GetInputVoltage

(

)

const

Gets the input voltage for the flywheel.

Returns

The flywheel input voltage.

GetTorque()

wpi::units::newton_meter_t wpi::sim::FlywheelSim::GetTorque

(

)

const

Returns the flywheel's torque.

Returns

The flywheel's torque

J()

wpi::units::kilogram_square_meter_t wpi::sim::FlywheelSim::J ( ) const

inline

Returns the moment of inertia.

SetInputVoltage()

void wpi::sim::FlywheelSim::SetInputVoltage

(

wpi::units::volt_t

voltage

)

Sets the input voltage for the flywheel.

Parameters

voltage

The input voltage.

SetState()

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

inline

Sets the system state.

Parameters

state

The new state.

SetVelocity()

void wpi::sim::FlywheelSim::SetVelocity

(

wpi::units::radians_per_second_t

velocity

)

Sets the flywheel's angular velocity.

Parameters

velocity

The new velocity

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

• wpi/simulation/FlywheelSim.hpp