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

Method Summary

Modifier and Type	Method	Description
double	getAngularVelocityRadPerSec()	Returns the flywheel velocity.
double	getAngularVelocityRPM()	Returns the flywheel velocity in RPM.
double	getCurrentDrawAmps()	Returns the flywheel current draw.
void	setInputVoltage(double volts)	Sets the input voltage for the flywheel.
void	setState(double velocityRadPerSec)	Sets the flywheel's state.

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

FlywheelSim

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

Creates a simulated flywheel mechanism.

Parameters:

plant - The linear system that represents the flywheel. This system can be created with LinearSystemId.createFlywheelSystem(DCMotor, double, double).

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

gearing - The gearing of the flywheel (numbers greater than 1 represent reductions).

FlywheelSim

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

Creates a simulated flywheel mechanism.

Parameters:

plant - The linear system that represents the flywheel.

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

gearing - The gearing of the flywheel (numbers greater than 1 represent reductions).

measurementStdDevs - The standard deviations of the measurements.

FlywheelSim

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

Creates a simulated flywheel mechanism.

Parameters:

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

gearing - The gearing of the flywheel (numbers greater than 1 represent reductions).

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

FlywheelSim

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

Creates a simulated flywheel mechanism.

Parameters:

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

gearing - The gearing of the flywheel (numbers greater than 1 represent reductions).

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

measurementStdDevs - The standard deviations of the measurements.

Method Details

setState

public void setState(double velocityRadPerSec)

Sets the flywheel's state.

Parameters:

velocityRadPerSec - The new velocity in radians per second.

getAngularVelocityRadPerSec

public double getAngularVelocityRadPerSec()

Returns the flywheel velocity.

Returns:

The flywheel velocity.

getAngularVelocityRPM

public double getAngularVelocityRPM()

Returns the flywheel velocity in RPM.

Returns:

The flywheel velocity in RPM.

getCurrentDrawAmps

public double getCurrentDrawAmps()

Returns the flywheel current draw.

Overrides:

getCurrentDrawAmps in class LinearSystemSim<N1,N1,N1>

Returns:

The flywheel current draw.

setInputVoltage

public void setInputVoltage(double volts)

Sets the input voltage for the flywheel.

Parameters:

volts - The input voltage.