Package edu.wpi.first.wpilibj.simulation

Class DCMotorSim

java.lang.Object

edu.wpi.first.wpilibj.simulation.LinearSystemSim<N2,N1,N2>

edu.wpi.first.wpilibj.simulation.DCMotorSim

public class DCMotorSim
extends LinearSystemSim<N2,N1,N2>

Represents a simulated DC motor mechanism.

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.simulation.LinearSystemSim

m_measurementStdDevs, m_plant, m_u, m_x, m_y

Constructor Summary

Constructors

Constructor	Description
DCMotorSim(LinearSystem<N2,N1,N2> plant, DCMotor gearbox, double... measurementStdDevs)	Creates a simulated DC motor mechanism.

Method Summary

Modifier and Type	Method	Description
AngularAcceleration	getAngularAcceleration()	Returns the DC motor's acceleration.
double	getAngularAccelerationRadPerSecSq()	Returns the DC motor's acceleration in Radians Per Second Squared.
Angle	getAngularPosition()	Returns the DC motor's position.
double	getAngularPositionRad()	Returns the DC motor's position.
double	getAngularPositionRotations()	Returns the DC motor's position in rotations.
AngularVelocity	getAngularVelocity()	Returns the DC motor's velocity.
double	getAngularVelocityRadPerSec()	Returns the DC motor's velocity.
double	getAngularVelocityRPM()	Returns the DC motor's velocity in RPM.
double	getCurrentDrawAmps()	Returns the DC motor's current draw.
DCMotor	getGearbox()	Returns the gearbox for the DC motor.
double	getGearing()	Returns the gear ratio of the DC motor.
double	getInputVoltage()	Gets the input voltage for the DC motor.
double	getJKgMetersSquared()	Returns the moment of inertia of the DC motor.
double	getTorqueNewtonMeters()	Returns the DC motor's torque in Newton-Meters.
void	setAngle(double angularPositionRad)	Sets the DC motor's angular position.
void	setAngularVelocity(double angularVelocityRadPerSec)	Sets the DC motor's angular velocity.
void	setInputVoltage(double volts)	Sets the input voltage for the DC motor.
void	setState(double angularPositionRad, double angularVelocityRadPerSec)	Sets the state of the DC motor.

Methods inherited from class edu.wpi.first.wpilibj.simulation.LinearSystemSim

clampInput, getInput, getInput, getOutput, getOutput, setInput, setInput, setInput, setState, update, updateX

Methods inherited from class java.lang.Object

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

Constructor Details

DCMotorSim

public DCMotorSim(LinearSystem<N2,N1,N2> plant,
 DCMotor gearbox,
 double... measurementStdDevs)

Creates a simulated DC motor mechanism.

Parameters:

plant - The linear system representing the DC motor. This system can be created with LinearSystemId.createDCMotorSystem(DCMotor, double, double) or LinearSystemId.createDCMotorSystem(double, double). If LinearSystemId.createDCMotorSystem(double, double) is used, the distance unit must be radians.

gearbox - The type of and number of motors in the DC motor gearbox.

measurementStdDevs - The standard deviations of the measurements. Can be omitted if no noise is desired. If present must have 2 elements. The first element is for position. The second element is for velocity.

Method Details

setState

public void setState(double angularPositionRad,
 double angularVelocityRadPerSec)

Sets the state of the DC motor.

Parameters:

angularPositionRad - The new position in radians.

angularVelocityRadPerSec - The new velocity in radians per second.

setAngle

public void setAngle(double angularPositionRad)

Sets the DC motor's angular position.

Parameters:

angularPositionRad - The new position in radians.

setAngularVelocity

public void setAngularVelocity(double angularVelocityRadPerSec)

Sets the DC motor's angular velocity.

Parameters:

angularVelocityRadPerSec - The new velocity in radians per second.

getGearing

public double getGearing()

Returns the gear ratio of the DC motor.

Returns:

the DC motor's gear ratio.

getJKgMetersSquared

public double getJKgMetersSquared()

Returns the moment of inertia of the DC motor.

Returns:

The DC motor's moment of inertia.

getGearbox

public DCMotor getGearbox()

Returns the gearbox for the DC motor.

Returns:

The DC motor's gearbox.

getAngularPositionRad

public double getAngularPositionRad()

Returns the DC motor's position.

Returns:

The DC motor's position.

getAngularPositionRotations

public double getAngularPositionRotations()

Returns the DC motor's position in rotations.

Returns:

The DC motor's position in rotations.

getAngularPosition

public Angle getAngularPosition()

Returns the DC motor's position.

Returns:

The DC motor's position

getAngularVelocityRadPerSec

public double getAngularVelocityRadPerSec()

Returns the DC motor's velocity.

Returns:

The DC motor's velocity.

getAngularVelocityRPM

public double getAngularVelocityRPM()

Returns the DC motor's velocity in RPM.

Returns:

The DC motor's velocity in RPM.

getAngularVelocity

public AngularVelocity getAngularVelocity()

Returns the DC motor's velocity.

Returns:

The DC motor's velocity

getAngularAccelerationRadPerSecSq

public double getAngularAccelerationRadPerSecSq()

Returns the DC motor's acceleration in Radians Per Second Squared.

Returns:

The DC motor's acceleration in Radians Per Second Squared.

getAngularAcceleration

public AngularAcceleration getAngularAcceleration()

Returns the DC motor's acceleration.

Returns:

The DC motor's acceleration.

getTorqueNewtonMeters

public double getTorqueNewtonMeters()

Returns the DC motor's torque in Newton-Meters.

Returns:

The DC motor's torque in Newton-Meters.

getCurrentDrawAmps

public double getCurrentDrawAmps()

Returns the DC motor's current draw.

Returns:

The DC motor's current draw.

getInputVoltage

public double getInputVoltage()

Gets the input voltage for the DC motor.

Returns:

The DC motor's input voltage.

setInputVoltage

public void setInputVoltage(double volts)

Sets the input voltage for the DC motor.

Parameters:

volts - The input voltage.