WPILibC++ 2024.3.2
frc::sim::BatterySim Class Reference

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

#include <frc/simulation/BatterySim.h>

## Static Public Member Functions

static units::volt_t Calculate (units::volt_t nominalVoltage, units::ohm_t resistance, std::span< const units::ampere_t > currents)
Calculate the loaded battery voltage. More...

static units::volt_t Calculate (units::volt_t nominalVoltage, units::ohm_t resistance, std::initializer_list< units::ampere_t > currents)
Calculate the loaded battery voltage. More...

static units::volt_t Calculate (std::span< const units::ampere_t > currents)
Calculate the loaded battery voltage. More...

static units::volt_t Calculate (std::initializer_list< units::ampere_t > currents)
Calculate the loaded battery voltage. More...

## Detailed Description

A utility class to simulate the robot battery.

## ◆ Calculate() [1/4]

 static units::volt_t frc::sim::BatterySim::Calculate ( std::initializer_list< units::ampere_t > currents )
inlinestatic

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

## ◆ Calculate() [2/4]

 static units::volt_t frc::sim::BatterySim::Calculate ( std::span< const units::ampere_t > currents )
inlinestatic

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

## ◆ Calculate() [3/4]

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

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

## ◆ Calculate() [4/4]

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