Package edu.wpi.first.wpilibj.simulation

Class FlywheelSim

java.lang.Object

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

edu.wpi.first.wpilibj.simulation.FlywheelSim

public class FlywheelSim
extends LinearSystemSim<N1,N1,N1>

Represents a simulated flywheel 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
FlywheelSim(LinearSystem<N1,N1,N1> plant, DCMotor gearbox, double... measurementStdDevs)	Creates a simulated flywheel mechanism.

Method Summary

Modifier and Type	Method	Description
AngularAcceleration	getAngularAcceleration()	Returns the flywheel's acceleration.
double	getAngularAccelerationRadPerSecSq()	Returns the flywheel's acceleration in Radians Per Second Squared.
AngularVelocity	getAngularVelocity()	Returns the flywheel's velocity.
double	getAngularVelocityRadPerSec()	Returns the flywheel's velocity in Radians Per Second.
double	getAngularVelocityRPM()	Returns the flywheel's velocity in RPM.
double	getCurrentDrawAmps()	Returns the flywheel's current draw.
DCMotor	getGearbox()	Returns the gearbox for the flywheel.
double	getGearing()	Returns the gear ratio of the flywheel.
double	getInputVoltage()	Gets the input voltage for the flywheel.
double	getJKgMetersSquared()	Returns the moment of inertia in kilograms meters squared.
double	getTorqueNewtonMeters()	Returns the flywheel's torque in Newton-Meters.
void	setAngularVelocity(double velocityRadPerSec)	Sets the flywheel's angular velocity.
void	setInputVoltage(double volts)	Sets the input voltage for the flywheel.

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

FlywheelSim

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

Creates a simulated flywheel mechanism.

Parameters:

plant - The linear system that represents the flywheel. Use either LinearSystemId.createFlywheelSystem(DCMotor, double, double) if using physical constants or LinearSystemId.identifyVelocitySystem(double, double) if using system characterization.

gearbox - The type of and number of motors in the flywheel gearbox.

measurementStdDevs - The standard deviations of the measurements. Can be omitted if no noise is desired. If present must have 1 element for velocity.

Method Details

setAngularVelocity

public void setAngularVelocity(double velocityRadPerSec)

Sets the flywheel's angular velocity.

Parameters:

velocityRadPerSec - The new velocity in radians per second.

getGearing

public double getGearing()

Returns the gear ratio of the flywheel.

Returns:

the flywheel's gear ratio.

getJKgMetersSquared

public double getJKgMetersSquared()

Returns the moment of inertia in kilograms meters squared.

Returns:

The flywheel's moment of inertia.

getGearbox

public DCMotor getGearbox()

Returns the gearbox for the flywheel.

Returns:

The flywheel's gearbox.

getAngularVelocityRadPerSec

public double getAngularVelocityRadPerSec()

Returns the flywheel's velocity in Radians Per Second.

Returns:

The flywheel's velocity in Radians Per Second.

getAngularVelocityRPM

public double getAngularVelocityRPM()

Returns the flywheel's velocity in RPM.

Returns:

The flywheel's velocity in RPM.

getAngularVelocity

public AngularVelocity getAngularVelocity()

Returns the flywheel's velocity.

Returns:

The flywheel's velocity

getAngularAccelerationRadPerSecSq

public double getAngularAccelerationRadPerSecSq()

Returns the flywheel's acceleration in Radians Per Second Squared.

Returns:

The flywheel's acceleration in Radians Per Second Squared.

getAngularAcceleration

public AngularAcceleration getAngularAcceleration()

Returns the flywheel's acceleration.

Returns:

The flywheel's acceleration.

getTorqueNewtonMeters

public double getTorqueNewtonMeters()

Returns the flywheel's torque in Newton-Meters.

Returns:

The flywheel's torque in Newton-Meters.

getCurrentDrawAmps

public double getCurrentDrawAmps()

Returns the flywheel's current draw.

Returns:

The flywheel's current draw.

getInputVoltage

public double getInputVoltage()

Gets the input voltage for the flywheel.

Returns:

The flywheel's input voltage.

setInputVoltage

public void setInputVoltage(double volts)

Sets the input voltage for the flywheel.

Parameters:

volts - The input voltage.