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

Method Summary

Modifier and Type	Method	Description
double	getAngularPositionRad()	Returns the DC motor position.
double	getAngularPositionRotations()	Returns the DC motor position in rotations.
double	getAngularVelocityRadPerSec()	Returns the DC motor velocity.
double	getAngularVelocityRPM()	Returns the DC motor velocity in RPM.
double	getCurrentDrawAmps()	Returns the DC motor current draw.
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, 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 gearing)

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).

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).

DCMotorSim

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

Creates a simulated DC motor mechanism.

Parameters:

plant - The linear system representing the DC motor. This system can be created with

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 deviations of the measurements.

DCMotorSim

public DCMotorSim(DCMotor gearbox, double gearing, double jKgMetersSquared)

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).

jKgMetersSquared - The moment of inertia of the DC motor. If this is unknown, use the DCMotorSim(LinearSystem, DCMotor, double, Matrix) constructor.

DCMotorSim

public DCMotorSim(DCMotor gearbox, double gearing, double jKgMetersSquared, Matrix<N2,N1> measurementStdDevs)

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).

jKgMetersSquared - The moment of inertia of the DC motor. If this is unknown, use the DCMotorSim(LinearSystem, DCMotor, double, Matrix) constructor.

measurementStdDevs - The standard deviations of the measurements.

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.

getAngularPositionRad

public double getAngularPositionRad()

Returns the DC motor position.

Returns:

The DC motor position.

getAngularPositionRotations

public double getAngularPositionRotations()

Returns the DC motor position in rotations.

Returns:

The DC motor position in rotations.

getAngularVelocityRadPerSec

public double getAngularVelocityRadPerSec()

Returns the DC motor velocity.

Returns:

The DC motor velocity.

getAngularVelocityRPM

public double getAngularVelocityRPM()

Returns the DC motor velocity in RPM.

Returns:

The DC motor velocity in RPM.

getCurrentDrawAmps

public double getCurrentDrawAmps()

Returns the DC motor current draw.

Overrides:

getCurrentDrawAmps in class LinearSystemSim<N2,N1,N2>

Returns:

The DC motor current draw.

setInputVoltage

public void setInputVoltage(double volts)

Sets the input voltage for the DC motor.

Parameters:

volts - The input voltage.