Package edu.wpi.first.wpilibj.simulation

Class DCMotorSim

java.lang.Object

edu.wpi.first.wpilibj.simulation.LinearSystemSim<N2,N1,N2>

edu.wpi.first.wpilibj.simulation.DCMotorSim

public class DCMotorSim
extends LinearSystemSim<N2,N1,N2>

Represents a simulated DC motor mechanism.

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.simulation.LinearSystemSim

m_measurementStdDevs, m_plant, m_u, m_x, m_y

Constructor Summary

Constructors

Constructor	Description
DCMotorSim(LinearSystem<N2,N1,N2> plant, DCMotor gearbox, double... measurementStdDevs)	Creates a simulated DC motor mechanism.

Method Summary

Modifier and Type	Method	Description
double	getAngularAcceleration()	Returns the DC motor's acceleration.
double	getAngularPosition()	Returns the DC motor's position.
double	getAngularVelocity()	Returns the DC motor's velocity.
double	getCurrentDraw()	Returns the DC motor's current draw.
DCMotor	getGearbox()	Returns the gearbox for the DC motor.
double	getGearing()	Returns the gear ratio of the DC motor.
double	getInputVoltage()	Gets the input voltage for the DC motor.
double	getJ()	Returns the moment of inertia of the DC motor.
double	getTorque()	Returns the DC motor's torque in.
void	setAngle(double angularPosition)	Sets the DC motor's angular position.
void	setAngularVelocity(double angularVelocity)	Sets the DC motor's angular velocity.
void	setInputVoltage(double volts)	Sets the input voltage for the DC motor.
void	setState(double angularPosition, double angularVelocity)	Sets the state of the DC motor.

Methods inherited from class edu.wpi.first.wpilibj.simulation.LinearSystemSim

clampInput, getInput, getInput, getOutput, getOutput, setInput, setInput, setInput, setState, update, updateX

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

DCMotorSim

public DCMotorSim(LinearSystem<N2,N1,N2> plant,
 DCMotor gearbox,
 double... measurementStdDevs)

Creates a simulated DC motor mechanism.

Parameters:

plant - The linear system representing the DC motor. This system can be created with LinearSystemId.createDCMotorSystem(DCMotor, double, double) or LinearSystemId.createDCMotorSystem(double, double). If LinearSystemId.createDCMotorSystem(double, double) is used, the distance unit must be radians.

gearbox - The type of and number of motors in the DC motor gearbox.

measurementStdDevs - The standard deviations of the measurements. Can be omitted if no noise is desired. If present must have 2 elements. The first element is for position. The second element is for velocity.

Method Details

setState

public void setState(double angularPosition,
 double angularVelocity)

Sets the state of the DC motor.

Parameters:

angularPosition - The new position in radians.

angularVelocity - The new velocity in radians per second.

setAngle

public void setAngle(double angularPosition)

Sets the DC motor's angular position.

Parameters:

angularPosition - The new position in radians.

setAngularVelocity

public void setAngularVelocity(double angularVelocity)

Sets the DC motor's angular velocity.

Parameters:

angularVelocity - The new velocity in radians per second.

getGearing

public double getGearing()

Returns the gear ratio of the DC motor.

Returns:

the DC motor's gear ratio.

getJ

public double getJ()

Returns the moment of inertia of the DC motor.

Returns:

The DC motor's moment of inertia in kg-m².

getGearbox

public DCMotor getGearbox()

Returns the gearbox for the DC motor.

Returns:

The DC motor's gearbox.

getAngularPosition

public double getAngularPosition()

Returns the DC motor's position.

Returns:

The DC motor's position in radians.

getAngularVelocity

public double getAngularVelocity()

Returns the DC motor's velocity.

Returns:

The DC motor's velocity in radians per second.

getAngularAcceleration

public double getAngularAcceleration()

Returns the DC motor's acceleration.

Returns:

The DC motor's acceleration in rad/s².

getTorque

public double getTorque()

Returns the DC motor's torque in.

Returns:

The DC motor's torque in Newton-meters.

getCurrentDraw

public double getCurrentDraw()

Returns the DC motor's current draw.

Returns:

The DC motor's current draw in amps.

getInputVoltage

public double getInputVoltage()

Gets the input voltage for the DC motor.

Returns:

The DC motor's input voltage.

setInputVoltage

public void setInputVoltage(double volts)

Sets the input voltage for the DC motor.

Parameters:

volts - The input voltage.