Represents a simulated elevator mechanism. More...

#include <frc/simulation/ElevatorSim.h>

Inheritance diagram for frc::sim::ElevatorSim:

Public Types
template<typename Distance >
using	Velocity_t

template<typename Distance >
using	Acceleration_t

Public Member Functions
	ElevatorSim (const LinearSystem< 2, 1, 2 > &plant, const DCMotor &gearbox, units::meter_t minHeight, units::meter_t maxHeight, bool simulateGravity, units::meter_t startingHeight, const std::array< double, 2 > &measurementStdDevs={0.0, 0.0})
	Constructs a simulated elevator mechanism.

	ElevatorSim (const DCMotor &gearbox, double gearing, units::kilogram_t carriageMass, units::meter_t drumRadius, units::meter_t minHeight, units::meter_t maxHeight, bool simulateGravity, units::meter_t startingHeight, const std::array< double, 2 > &measurementStdDevs={0.0, 0.0})
	Constructs a simulated elevator mechanism.

template<typename Distance > requires std::same_as<units::meter, Distance> \|\| std::same_as<units::radian, Distance>
	ElevatorSim (decltype(1_V/Velocity_t< Distance >(1)) kV, decltype(1_V/Acceleration_t< Distance >(1)) kA, const DCMotor &gearbox, units::meter_t minHeight, units::meter_t maxHeight, bool simulateGravity, units::meter_t startingHeight, const std::array< double, 2 > &measurementStdDevs={0.0, 0.0})
	Constructs a simulated elevator mechanism.

void	SetState (units::meter_t position, units::meters_per_second_t velocity)
	Sets the elevator's state.

bool	WouldHitLowerLimit (units::meter_t elevatorHeight) const
	Returns whether the elevator would hit the lower limit.

bool	WouldHitUpperLimit (units::meter_t elevatorHeight) const
	Returns whether the elevator would hit the upper limit.

bool	HasHitLowerLimit () const
	Returns whether the elevator has hit the lower limit.

bool	HasHitUpperLimit () const
	Returns whether the elevator has hit the upper limit.

units::meter_t	GetPosition () const
	Returns the position of the elevator.

units::meters_per_second_t	GetVelocity () const
	Returns the velocity of the elevator.

units::ampere_t	GetCurrentDraw () const
	Returns the elevator current draw.

void	SetInputVoltage (units::volt_t voltage)
	Sets the input voltage for the elevator.

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.

Protected Member Functions
Vectord< 2 >	UpdateX (const Vectord< 2 > &currentXhat, const Vectord< 1 > &u, units::second_t dt) override
	Updates the state estimate of the elevator.

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.

Additional Inherited Members
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 elevator mechanism.

Member Typedef Documentation

◆ Acceleration_t

template<typename Distance >

using frc::sim::ElevatorSim::Acceleration_t

Initial value:

 units::unit_t<units::compound_unit<
      units::compound_unit<Distance, units::inverse<units::seconds>>,
      units::inverse<units::seconds>>>

◆ Velocity_t

template<typename Distance >

using frc::sim::ElevatorSim::Velocity_t

Initial value:

units::unit_t<

units::compound_unit<Distance, units::inverse<units::seconds>>>

Constructor & Destructor Documentation

◆ ElevatorSim() [1/3]

frc::sim::ElevatorSim::ElevatorSim	(	const LinearSystem< 2, 1, 2 > &	plant,
		const DCMotor &	gearbox,
		units::meter_t	minHeight,
		units::meter_t	maxHeight,
		bool	simulateGravity,
		units::meter_t	startingHeight,
		const std::array< double, 2 > &	measurementStdDevs = {0.0, 0.0} )

Constructs a simulated elevator mechanism.

Parameters

plant	The linear system that represents the elevator. This system can be created with LinearSystemId::ElevatorSystem().
gearbox	The type of and number of motors in your elevator gearbox.
minHeight	The minimum allowed height of the elevator.
maxHeight	The maximum allowed height of the elevator.
simulateGravity	Whether gravity should be simulated or not.
startingHeight	The starting height of the elevator.
measurementStdDevs	The standard deviation of the measurements.

◆ ElevatorSim() [2/3]

frc::sim::ElevatorSim::ElevatorSim	(	const DCMotor &	gearbox,
		double	gearing,
		units::kilogram_t	carriageMass,
		units::meter_t	drumRadius,
		units::meter_t	minHeight,
		units::meter_t	maxHeight,
		bool	simulateGravity,
		units::meter_t	startingHeight,
		const std::array< double, 2 > &	measurementStdDevs = {0.0, 0.0} )

Constructs a simulated elevator mechanism.

Parameters

gearbox	The type of and number of motors in your elevator gearbox.
gearing	The gearing of the elevator (numbers greater than 1 represent reductions).
carriageMass	The mass of the elevator carriage.
drumRadius	The radius of the drum that your cable is wrapped around.
minHeight	The minimum allowed height of the elevator.
maxHeight	The maximum allowed height of the elevator.
simulateGravity	Whether gravity should be simulated or not.
startingHeight	The starting height of the elevator.
measurementStdDevs	The standard deviation of the measurements.

◆ ElevatorSim() [3/3]

template<typename Distance >
requires std::same_as<units::meter, Distance> || std::same_as<units::radian, Distance>

frc::sim::ElevatorSim::ElevatorSim	(	decltype(1_V/Velocity_t< Distance >(1))	kV,
		decltype(1_V/Acceleration_t< Distance >(1))	kA,
		const DCMotor &	gearbox,
		units::meter_t	minHeight,
		units::meter_t	maxHeight,
		bool	simulateGravity,
		units::meter_t	startingHeight,
		const std::array< double, 2 > &	measurementStdDevs = {0.0, 0.0} )

Constructs a simulated elevator mechanism.

Parameters

kV	The velocity gain.
kA	The acceleration gain.
gearbox	The type of and number of motors in your elevator gearbox.
minHeight	The minimum allowed height of the elevator.
maxHeight	The maximum allowed height of the elevator.
simulateGravity	Whether gravity should be simulated or not.
startingHeight	The starting height of the elevator.
measurementStdDevs	The standard deviation of the measurements.

Member Function Documentation

◆ GetCurrentDraw()

units::ampere_t frc::sim::ElevatorSim::GetCurrentDraw ( ) const

Returns the elevator current draw.

Returns: The elevator current draw.

◆ GetPosition()

units::meter_t frc::sim::ElevatorSim::GetPosition ( ) const

Returns the position of the elevator.

Returns: The position of the elevator.

◆ GetVelocity()

units::meters_per_second_t frc::sim::ElevatorSim::GetVelocity ( ) const

Returns the velocity of the elevator.

Returns: The velocity of the elevator.

◆ HasHitLowerLimit()

bool frc::sim::ElevatorSim::HasHitLowerLimit ( ) const

Returns whether the elevator has hit the lower limit.

Returns: Whether the elevator has hit the lower limit.

◆ HasHitUpperLimit()

bool frc::sim::ElevatorSim::HasHitUpperLimit ( ) const

Returns whether the elevator has hit the upper limit.

Returns: Whether the elevator has hit the upper limit.

◆ SetInputVoltage()

void frc::sim::ElevatorSim::SetInputVoltage ( units::volt_t voltage )

Sets the input voltage for the elevator.

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::ElevatorSim::SetState	(	units::meter_t	position,
		units::meters_per_second_t	velocity )

Sets the elevator's state.

The new position will be limited between the minimum and maximum allowed heights.

Parameters

position	The new position
velocity	The new velocity

◆ UpdateX()

Vectord< 2 > frc::sim::ElevatorSim::UpdateX	(	const Vectord< 2 > &	currentXhat,
		const Vectord< 1 > &	u,
		units::second_t	dt )

overrideprotected

Updates the state estimate of the elevator.

Parameters

currentXhat	The current state estimate.
u	The system inputs (voltage).
dt	The time difference between controller updates.

◆ WouldHitLowerLimit()

bool frc::sim::ElevatorSim::WouldHitLowerLimit ( units::meter_t elevatorHeight ) const

Returns whether the elevator would hit the lower limit.

Parameters

elevatorHeight The elevator height.

Returns: Whether the elevator would hit the lower limit.

◆ WouldHitUpperLimit()

bool frc::sim::ElevatorSim::WouldHitUpperLimit ( units::meter_t elevatorHeight ) const

Returns whether the elevator would hit the upper limit.

Parameters

elevatorHeight The elevator height.

Returns: Whether the elevator would hit the upper limit.

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

frc/simulation/ElevatorSim.h

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Acceleration_t

◆ Velocity_t

Constructor & Destructor Documentation

◆ ElevatorSim() [1/3]

◆ ElevatorSim() [2/3]

◆ ElevatorSim() [3/3]

Member Function Documentation

◆ GetCurrentDraw()

◆ GetPosition()

◆ GetVelocity()

◆ HasHitLowerLimit()

◆ HasHitUpperLimit()

◆ SetInputVoltage()

◆ SetState() [1/2]

◆ SetState() [2/2]

◆ UpdateX()

◆ WouldHitLowerLimit()

◆ WouldHitUpperLimit()