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, double gearing, const std::array< double, 2 > &measurementStdDevs={0.0, 0.0})
	Creates a simulated DC motor mechanism. More...
	DCMotorSim (const DCMotor &gearbox, double gearing, units::kilogram_square_meter_t moi, const std::array< double, 2 > &measurementStdDevs={0.0, 0.0})
	Creates a simulated DC motor mechanism. More...
void	SetState (units::radian_t angularPosition, units::radians_per_second_t angularVelocity)
	Sets the state of the DC motor. More...
units::radian_t	GetAngularPosition () const
	Returns the DC motor position. More...
units::radians_per_second_t	GetAngularVelocity () const
	Returns the DC motor velocity. More...
units::ampere_t	GetCurrentDraw () const override
	Returns the DC motor current draw. More...
void	SetInputVoltage (units::volt_t voltage)
	Sets the input voltage for the DC motor. More...
void	SetState (const Vectord< States > &state)
	Sets the system state. More...
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. More...
virtual	~LinearSystemSim ()=default
void	Update (units::second_t dt)
	Updates the simulation. More...
const Vectord< Outputs > &	GetOutput () const
	Returns the current output of the plant. More...
double	GetOutput (int row) const
	Returns an element of the current output of the plant. More...
void	SetInput (const Vectord< Inputs > &u)
	Sets the system inputs (usually voltages). More...
void	SetInput (int row, double value)
void	SetState (const Vectord< States > &state)
	Sets the system state. More...
virtual units::ampere_t	GetCurrentDraw () const
	Returns the current drawn by this simulated system. More...

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. More...
Vectord< Inputs >	ClampInput (Vectord< Inputs > u)
	Clamp the input vector such that no element exceeds the given voltage. More...
Protected Attributes inherited from frc::sim::LinearSystemSim< 2, 1, 2 >
LinearSystem< States, Inputs, Outputs >	m_plant
	The plant that represents the linear system. More...
Vectord< States >	m_x
	State vector. More...
Vectord< Inputs >	m_u
	Input vector. More...
Vectord< Outputs >	m_y
	Output vector. More...
std::array< double, Outputs >	m_measurementStdDevs
	The standard deviations of measurements, used for adding noise to the measurements. More...

Detailed Description

Represents a simulated DC motor mechanism.

Constructor & Destructor Documentation

DCMotorSim() [1/2]

frc::sim::DCMotorSim::DCMotorSim	(	const LinearSystem< 2, 1, 2 > &	plant,
		const DCMotor &	gearbox,
		double	gearing,
		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().
gearbox	The type of and number of motors in the DC motor gearbox.
gearing	The gearing of the DC motor (numbers greater than 1 represent reductions).
measurementStdDevs	The standard deviation of the measurement noise.

DCMotorSim() [2/2]

frc::sim::DCMotorSim::DCMotorSim	(	const DCMotor &	gearbox,
		double	gearing,
		units::kilogram_square_meter_t	moi,
		const std::array< double, 2 > &	measurementStdDevs = {0.0, 0.0}
	)

Creates a simulated DC motor mechanism.

Parameters

gearbox	The type of and number of motors in the DC motor gearbox.
gearing	The gearing of the DC motor (numbers greater than 1 represent reductions).
moi	The moment of inertia of the DC motor.
measurementStdDevs	The standard deviation of the measurement noise.

Member Function Documentation

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

overridevirtual

Returns the DC motor current draw.

Returns

The DC motor current draw.

Reimplemented from frc::sim::LinearSystemSim< 2, 1, 2 >.

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