frc::sim::FlywheelSim Class Reference

Represents a simulated flywheel mechanism. More...

#include <frc/simulation/FlywheelSim.h>

Inheritance diagram for frc::sim::FlywheelSim:

Public Member Functions
	FlywheelSim (const LinearSystem< 1, 1, 1 > &plant, const DCMotor &gearbox, const std::array< double, 1 > &measurementStdDevs={0.0})
	Creates a simulated flywheel mechanism.
void	SetVelocity (units::radians_per_second_t velocity)
	Sets the flywheel's angular velocity.
units::radians_per_second_t	GetAngularVelocity () const
	Returns the flywheel's velocity.
units::radians_per_second_squared_t	GetAngularAcceleration () const
	Returns the flywheel's acceleration.
units::newton_meter_t	GetTorque () const
	Returns the flywheel's torque.
units::ampere_t	GetCurrentDraw () const
	Returns the flywheel's current draw.
units::volt_t	GetInputVoltage () const
	Gets the input voltage for the flywheel.
void	SetInputVoltage (units::volt_t voltage)
	Sets the input voltage for the flywheel.
DCMotor	Gearbox () const
	Returns the gearbox.
double	Gearing () const
	Returns the gearing;.
units::kilogram_square_meter_t	J () const
	Returns the moment of inertia.
void	SetState (const Vectord< States > &state)
	Sets the system state.
Public Member Functions inherited from frc::sim::LinearSystemSim< 1, 1, 1 >
	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< 1, 1, 1 >
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< 1, 1, 1 >
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 flywheel mechanism.

Constructor & Destructor Documentation

FlywheelSim()

frc::sim::FlywheelSim::FlywheelSim	(	const LinearSystem< 1, 1, 1 > &	plant,
		const DCMotor &	gearbox,
		const std::array< double, 1 > &	measurementStdDevs = {0.0} )

Creates a simulated flywheel mechanism.

Parameters

plant	The linear system representing the flywheel. This system can be created with LinearSystemId::FlywheelSystem() or LinearSystemId::IdentifyVelocitySystem().
gearbox	The type of and number of motors in the flywheel gearbox.
measurementStdDevs	The standard deviation of the measurement noise.

Member Function Documentation

Gearbox()

DCMotor frc::sim::FlywheelSim::Gearbox ( ) const

inline

Returns the gearbox.

Gearing()

double frc::sim::FlywheelSim::Gearing ( ) const

inline

Returns the gearing;.

GetAngularAcceleration()

units::radians_per_second_squared_t frc::sim::FlywheelSim::GetAngularAcceleration

(

)

const

Returns the flywheel's acceleration.

Returns

The flywheel's acceleration

GetAngularVelocity()

units::radians_per_second_t frc::sim::FlywheelSim::GetAngularVelocity

(

)

const

Returns the flywheel's velocity.

Returns

The flywheel's velocity.

GetCurrentDraw()

units::ampere_t frc::sim::FlywheelSim::GetCurrentDraw

(

)

const

Returns the flywheel's current draw.

Returns

The flywheel's current draw.

GetInputVoltage()

units::volt_t frc::sim::FlywheelSim::GetInputVoltage

(

)

const

Gets the input voltage for the flywheel.

Returns

The flywheel input voltage.

GetTorque()

units::newton_meter_t frc::sim::FlywheelSim::GetTorque

(

)

const

Returns the flywheel's torque.

Returns

The flywheel's torque

J()

units::kilogram_square_meter_t frc::sim::FlywheelSim::J ( ) const

inline

Returns the moment of inertia.

SetInputVoltage()

void frc::sim::FlywheelSim::SetInputVoltage

(

units::volt_t

voltage

)

Sets the input voltage for the flywheel.

Parameters

voltage

The input voltage.

SetState()

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

inline

Sets the system state.

Parameters

state

The new state.

SetVelocity()

void frc::sim::FlywheelSim::SetVelocity

(

units::radians_per_second_t

velocity

)

Sets the flywheel's angular velocity.

Parameters

velocity

The new velocity

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

• frc/simulation/FlywheelSim.h