frc::sim::DCMotorSim Class Reference

Represents a simulated DC motor mechanism. More...

#include <frc/simulation/DCMotorSim.h>

Inheritance diagram for frc::sim::DCMotorSim:

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

Additional Inherited Members
Protected Member Functions inherited from frc::sim::LinearSystemSim< 2, 1, 2 >
virtual Vectord< States >	UpdateX (const Vectord< States > &currentXhat, const Vectord< Inputs > &u, 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 frc::sim::LinearSystemSim< 2, 1, 2 >
LinearSystem< States, Inputs, Outputs >	m_plant
	The plant that represents the linear system.
Vectord< States >	m_x
	State vector.
Vectord< Inputs >	m_u
	Input vector.
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()

frc::sim::DCMotorSim::DCMotorSim	(	const LinearSystem< 2, 1, 2 > &	plant,
		const 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 LinearSystemId::DCMotorSystem(). If LinearSystemId::DCMotorSystem(kV, kA) is used, the distance unit must be radians.
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()

units::radians_per_second_squared_t frc::sim::DCMotorSim::GetAngularAcceleration

(

)

const

Returns the DC motor acceleration.

Returns

The DC motor acceleration

GetAngularPosition()

units::radian_t frc::sim::DCMotorSim::GetAngularPosition

(

)

const

Returns the DC motor position.

Returns

The DC motor position.

GetAngularVelocity()

units::radians_per_second_t frc::sim::DCMotorSim::GetAngularVelocity

(

)

const

Returns the DC motor velocity.

Returns

The DC motor velocity.

GetCurrentDraw()

units::ampere_t frc::sim::DCMotorSim::GetCurrentDraw

(

)

const

Returns the DC motor current draw.

Returns

The DC motor current draw.

GetGearbox()

const DCMotor & frc::sim::DCMotorSim::GetGearbox

(

)

const

Returns the gearbox.

GetGearing()

double frc::sim::DCMotorSim::GetGearing

(

)

const

Returns the gearing;.

GetInputVoltage()

units::volt_t frc::sim::DCMotorSim::GetInputVoltage

(

)

const

Gets the input voltage for the DC motor.

Returns

The DC motor input voltage.

GetJ()

units::kilogram_square_meter_t frc::sim::DCMotorSim::GetJ

(

)

const

Returns the moment of inertia.

GetTorque()

units::newton_meter_t frc::sim::DCMotorSim::GetTorque

(

)

const

Returns the DC motor torque.

Returns

The DC motor torque

SetAngle()

void frc::sim::DCMotorSim::SetAngle

(

units::radian_t

angularPosition

)

Sets the DC motor's angular position.

Parameters

angularPosition

The new position in radians.

SetAngularVelocity()

void frc::sim::DCMotorSim::SetAngularVelocity

(

units::radians_per_second_t

angularVelocity

)

Sets the DC motor's angular velocity.

Parameters

angularVelocity

The new velocity in radians per second.

SetInputVoltage()

void frc::sim::DCMotorSim::SetInputVoltage

(

units::volt_t

voltage

)

Sets the input voltage for the DC motor.

Parameters

voltage

The input voltage.

SetState() [1/2]

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

inline

Sets the system state.

Parameters

state

The new state.

SetState() [2/2]

void frc::sim::DCMotorSim::SetState	(	units::radian_t	angularPosition,
		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:

• frc/simulation/DCMotorSim.h