Package edu.wpi.first.wpilibj.simulation

Class BatterySim

java.lang.Object

edu.wpi.first.wpilibj.simulation.BatterySim

public final class BatterySim
extends Object

A utility class to simulate the robot battery.

Method Summary

Modifier and Type	Method	Description
static double	calculateDefaultBatteryLoadedVoltage(double... currents)	Calculate the loaded battery voltage.
static double	calculateLoadedBatteryVoltage(double nominalVoltage, double resistanceOhms, double... currents)	Calculate the loaded battery voltage.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

calculateLoadedBatteryVoltage

public static double calculateLoadedBatteryVoltage(double nominalVoltage,
 double resistanceOhms,
 double... currents)

Calculate the loaded battery voltage. 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.

resistanceOhms - The forward resistance of the battery. Most batteries are at or below 20 milliohms.

currents - The currents drawn from the battery.

Returns:

The battery's voltage under load.

calculateDefaultBatteryLoadedVoltage

public static double calculateDefaultBatteryLoadedVoltage(double... currents)

Calculate the loaded battery voltage. Use this with RoboRioSim.setVInVoltage(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:

The battery's voltage under load.