Package edu.wpi.first.wpilibj.simulation

Class ElevatorSim

java.lang.Object
edu.wpi.first.wpilibj.simulation.LinearSystemSim<N2,​N1,​N1>
edu.wpi.first.wpilibj.simulation.ElevatorSim
public class ElevatorSim
extends LinearSystemSim<N2,​N1,​N1>
Represents a simulated elevator 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
    ElevatorSim​(double kV, double kA, DCMotor gearbox, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters)
    Creates a simulated elevator mechanism.
    ElevatorSim​(double kV, double kA, DCMotor gearbox, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters, Matrix<N1,​N1> measurementStdDevs)
    Creates a simulated elevator mechanism.
    ElevatorSim​(LinearSystem<N2,​N1,​N1> plant, DCMotor gearbox, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters)
    Creates a simulated elevator mechanism.
    ElevatorSim​(LinearSystem<N2,​N1,​N1> plant, DCMotor gearbox, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters, Matrix<N1,​N1> measurementStdDevs)
    Creates a simulated elevator mechanism.
    ElevatorSim​(DCMotor gearbox, double gearing, double carriageMassKg, double drumRadiusMeters, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters)
    Creates a simulated elevator mechanism.
    ElevatorSim​(DCMotor gearbox, double gearing, double carriageMassKg, double drumRadiusMeters, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters, Matrix<N1,​N1> measurementStdDevs)
    Creates a simulated elevator mechanism.

  • Method Summary

    Modifier and Type Method Description
    double getCurrentDrawAmps()
    Returns the elevator current draw.
    double getPositionMeters()
    Returns the position of the elevator.
    double getVelocityMetersPerSecond()
    Returns the velocity of the elevator.
    boolean hasHitLowerLimit()
    Returns whether the elevator has hit the lower limit.
    boolean hasHitUpperLimit()
    Returns whether the elevator has hit the upper limit.
    void setInputVoltage​(double volts)
    Sets the input voltage for the elevator.
    void setState​(double positionMeters, double velocityMetersPerSecond)
    Sets the elevator's state.
    protected Matrix<N2,​N1> updateX​(Matrix<N2,​N1> currentXhat, Matrix<N1,​N1> u, double dtSeconds)
    Updates the state of the elevator.
    boolean wouldHitLowerLimit​(double elevatorHeightMeters)
    Returns whether the elevator would hit the lower limit.
    boolean wouldHitUpperLimit​(double elevatorHeightMeters)
    Returns whether the elevator would hit the upper limit.

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

    clampInput, getOutput, getOutput, setInput, setInput, setInput, setState, update

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • ElevatorSim

      public ElevatorSim​(LinearSystem<N2,​N1,​N1> plant, DCMotor gearbox, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters, Matrix<N1,​N1> measurementStdDevs)
      Creates a simulated elevator mechanism.
      Parameters:
      plant - The linear system that represents the elevator. This system can be created with LinearSystemId.createElevatorSystem(DCMotor, double, double, double).
      gearbox - The type of and number of motors in the elevator gearbox.
      minHeightMeters - The min allowable height of the elevator.
      maxHeightMeters - The max allowable height of the elevator.
      simulateGravity - Whether gravity should be simulated or not.
      startingHeightMeters - The starting height of the elevator.
      measurementStdDevs - The standard deviations of the measurements.

    • ElevatorSim

      public ElevatorSim​(LinearSystem<N2,​N1,​N1> plant, DCMotor gearbox, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters)
      Creates a simulated elevator mechanism.
      Parameters:
      plant - The linear system that represents the elevator. This system can be created with LinearSystemId.createElevatorSystem(DCMotor, double, double, double).
      gearbox - The type of and number of motors in the elevator gearbox.
      minHeightMeters - The min allowable height of the elevator.
      maxHeightMeters - The max allowable height of the elevator.
      startingHeightMeters - The starting height of the elevator.
      simulateGravity - Whether gravity should be simulated or not.

    • ElevatorSim

      public ElevatorSim​(double kV, double kA, DCMotor gearbox, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters)
      Creates a simulated elevator mechanism.
      Parameters:
      kV - The velocity gain.
      kA - The acceleration gain.
      gearbox - The type of and number of motors in the elevator gearbox.
      minHeightMeters - The min allowable height of the elevator.
      maxHeightMeters - The max allowable height of the elevator.
      simulateGravity - Whether gravity should be simulated or not.
      startingHeightMeters - The starting height of the elevator.

    • ElevatorSim

      public ElevatorSim​(double kV, double kA, DCMotor gearbox, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters, Matrix<N1,​N1> measurementStdDevs)
      Creates a simulated elevator mechanism.
      Parameters:
      kV - The velocity gain.
      kA - The acceleration gain.
      gearbox - The type of and number of motors in the elevator gearbox.
      minHeightMeters - The min allowable height of the elevator.
      maxHeightMeters - The max allowable height of the elevator.
      simulateGravity - Whether gravity should be simulated or not.
      startingHeightMeters - The starting height of the elevator.
      measurementStdDevs - The standard deviations of the measurements.

    • ElevatorSim

      public ElevatorSim​(DCMotor gearbox, double gearing, double carriageMassKg, double drumRadiusMeters, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters, Matrix<N1,​N1> measurementStdDevs)
      Creates a simulated elevator mechanism.
      Parameters:
      gearbox - The type of and number of motors in the elevator gearbox.
      gearing - The gearing of the elevator (numbers greater than 1 represent reductions).
      carriageMassKg - The mass of the elevator carriage.
      drumRadiusMeters - The radius of the drum that the elevator spool is wrapped around.
      minHeightMeters - The min allowable height of the elevator.
      maxHeightMeters - The max allowable height of the elevator.
      simulateGravity - Whether gravity should be simulated or not.
      startingHeightMeters - The starting height of the elevator.
      measurementStdDevs - The standard deviations of the measurements.

    • ElevatorSim

      public ElevatorSim​(DCMotor gearbox, double gearing, double carriageMassKg, double drumRadiusMeters, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters)
      Creates a simulated elevator mechanism.
      Parameters:
      gearbox - The type of and number of motors in the elevator gearbox.
      gearing - The gearing of the elevator (numbers greater than 1 represent reductions).
      carriageMassKg - The mass of the elevator carriage.
      drumRadiusMeters - The radius of the drum that the elevator spool is wrapped around.
      minHeightMeters - The min allowable height of the elevator.
      maxHeightMeters - The max allowable height of the elevator.
      simulateGravity - Whether gravity should be simulated or not.
      startingHeightMeters - The starting height of the elevator.

  • Method Details

    • setState

      public final void setState​(double positionMeters, double velocityMetersPerSecond)
      Sets the elevator's state. The new position will be limited between the minimum and maximum allowed heights.
      Parameters:
      positionMeters - The new position in meters.
      velocityMetersPerSecond - New velocity in meters per second.

    • wouldHitLowerLimit

      public boolean wouldHitLowerLimit​(double elevatorHeightMeters)
      Returns whether the elevator would hit the lower limit.
      Parameters:
      elevatorHeightMeters - The elevator height.
      Returns:
      Whether the elevator would hit the lower limit.

    • wouldHitUpperLimit

      public boolean wouldHitUpperLimit​(double elevatorHeightMeters)
      Returns whether the elevator would hit the upper limit.
      Parameters:
      elevatorHeightMeters - The elevator height.
      Returns:
      Whether the elevator would hit the upper limit.

    • hasHitLowerLimit

      public boolean hasHitLowerLimit()
      Returns whether the elevator has hit the lower limit.
      Returns:
      Whether the elevator has hit the lower limit.

    • hasHitUpperLimit

      public boolean hasHitUpperLimit()
      Returns whether the elevator has hit the upper limit.
      Returns:
      Whether the elevator has hit the upper limit.

    • getPositionMeters

      public double getPositionMeters()
      Returns the position of the elevator.
      Returns:
      The position of the elevator.

    • getVelocityMetersPerSecond

      public double getVelocityMetersPerSecond()
      Returns the velocity of the elevator.
      Returns:
      The velocity of the elevator.

    • getCurrentDrawAmps

      public double getCurrentDrawAmps()
      Returns the elevator current draw.
      Overrides:
      getCurrentDrawAmps in class LinearSystemSim<N2,​N1,​N1>
      Returns:
      The elevator current draw.

    • setInputVoltage

      public void setInputVoltage​(double volts)
      Sets the input voltage for the elevator.
      Parameters:
      volts - The input voltage.

    • updateX

      protected Matrix<N2,​N1> updateX​(Matrix<N2,​N1> currentXhat, Matrix<N1,​N1> u, double dtSeconds)
      Updates the state of the elevator.
      Overrides:
      updateX in class LinearSystemSim<N2,​N1,​N1>
      Parameters:
      currentXhat - The current state estimate.
      u - The system inputs (voltage).
      dtSeconds - The time difference between controller updates.
      Returns:
      The new state.