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DCMotorSim clasees review draft
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@narmstro2020
narmstro2020 committed Oct 11, 2024
1 parent 61ecceb commit edea2ab
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30 changes: 18 additions & 12 deletions wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
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import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
import edu.wpi.first.math.system.plant.Gearbox;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.units.measure.MomentOfInertia;
import edu.wpi.first.units.measure.Voltage;
import edu.wpi.first.wpilibj.RobotController;

/** Represents a simulated DC motor mechanism controlled by voltage input. */
public class DCMotorSim extends DCMotorSimBase {
/**
* Creates a simulated DC motor mechanism.
* Creates a simulated DC motor mechanism controlled by voltage input.
*
* @param plant The linear system representing the DC motor. This system can be created with
* {@link edu.wpi.first.math.system.plant.LinearSystemId #createDCMotorSystem(DCMotor,
* double)} or {@link edu.wpi.first.math.system.plant.LinearSystemId
* #createDCMotorSystem(double, double)}. If {@link
* edu.wpi.first.math.system.plant.LinearSystemId #createDCMotorSystem(double, double)} is
* used, the distance unit must be radians.
* @param gearbox The type of and number of motors in the DC motor gearbox.
* <p>If using physical constants create the plant using either {@link
* LinearSystemId#createDCMotorSystem(Gearbox, double)} or {@link
* LinearSystemId#createDCMotorSystem(Gearbox, MomentOfInertia)}.
*
* <p>If using system characterization create the plant using either {@link
* LinearSystemId#identifyPositionSystem(double, double)} or the units class overload. The
* distance unit must be radians. The input unit must be volts.
*
* @param plant The linear system that represents the simulated DC motor mechanism.
* @param gearbox The gearbox of the simulated DC motor mechanism.
* @param 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.
* second element is for velocity. The units should be radians for position and radians per
* second for velocity.
*/
public DCMotorSim(LinearSystem<N2, N1, N2> plant, Gearbox gearbox, double... measurementStdDevs) {
// By theorem 6.10.1 of
Expand Down Expand Up @@ -57,9 +63,9 @@ public DCMotorSim(LinearSystem<N2, N1, N2> plant, Gearbox gearbox, double... mea
}

/**
* Sets the input voltage for the DC motor.
* Sets the input voltage of the simulated DC motor mechanism.
*
* @param volts The input voltage.
* @param volts The input voltage in volts.
*/
public void setInputVoltage(double volts) {
setInput(volts);
Expand All @@ -68,7 +74,7 @@ public void setInputVoltage(double volts) {
}

/**
* Sets the input voltage for the DC motor.
* Sets the input voltage of the simulated DC motor mechanism.
*
* @param voltage The input voltage.
*/
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116 changes: 59 additions & 57 deletions wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSimBase.java
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import edu.wpi.first.units.measure.Torque;
import edu.wpi.first.units.measure.Voltage;

/** Represents a simulated DC motor mechanism. */
/** The base clase for a simulated DC motor mechanism. */
public abstract class DCMotorSimBase extends LinearSystemSim<N2, N1, N2> {
/** Gearbox for the DC motor. */
/** The gearbox of the simulated DC motor mechanism. */
protected final Gearbox m_gearbox;

/** The moment of inertia for the flywheel mechanism. */
/** The moment of inertia of the simulated DC motor mechanism. */
private final MomentOfInertia m_j;

/** The angle of the system. */
/** The angle of the simulated DC motor mechanism. */
private final MutAngle m_angle = Radians.mutable(0.0);

/** The angular velocity of the system. */
/** The angular velocity of the simulated DC motor mechanism. */
protected final MutAngularVelocity m_angularVelocity = RadiansPerSecond.mutable(0.0);

/** The angular acceleration of the system. */
/** The angular acceleration of the simulated DC motor mechanism. */
private final MutAngularAcceleration m_angularAcceleration =
RadiansPerSecondPerSecond.mutable(0.0);

/** The current draw of flywheel. */
/** The current draw of the simulated DC motor mechanism. */
protected final MutCurrent m_currentDraw = Amps.mutable(0.0);

/** The voltage of the flywheel. */
/** The voltage of the simulated DC motor mechanism. */
protected final MutVoltage m_voltage = Volts.mutable(0.0);

/** The torque on the flywheel. */
/** The torque of the simulated DC motor mechanism. */
protected final MutTorque m_torque = NewtonMeters.mutable(0.0);

/**
* Creates a simulated DC motor mechanism.
*
* @param plant The linear system representing the DC motor.
* @param gearbox The type of and number of motors in the DC motor gearbox.
* @param J The moment of inertia for the flywheel mechanism.
* @param plant The linear system that represents the simulated DC motor mechanism.
* @param gearbox The gearbox of the simulated DC motor mechanism.
* @param J The moment of inertia of the simulated DC motor mechanism.
* @param 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.
* second element is for velocity. The units should be radians for position and radians per
* second for velocity.
*/
public DCMotorSimBase(
LinearSystem<N2, N1, N2> plant,
Expand All @@ -81,7 +82,7 @@ public DCMotorSimBase(
}

/**
* Sets the state of the DC motor.
* Sets the state of the simulated DC motor mechanism.
*
* @param angularPositionRad The new angular position in radians.
* @param angularVelocityRadPerSec The new angualr velocity in radians per second.
Expand All @@ -91,7 +92,7 @@ public void setState(double angularPositionRad, double angularVelocityRadPerSec)
}

/**
* Sets the state of the DC motor.
* Sets the state of the simulated DC motor mechanism.
*
* @param angularPosition The new angular position.
* @param angularVelocity The new angular velocity.
Expand All @@ -101,16 +102,16 @@ public void setState(Angle angularPosition, AngularVelocity angularVelocity) {
}

/**
* Sets the DC motor's angular position.
* Sets the angular position of the simulated DC motor mechanism.
*
* @param angularPositionRad The new position in radians.
* @param angularPositionRad The new angular position in radians.
*/
public void setAngle(double angularPositionRad) {
setState(angularPositionRad, m_angularVelocity.in(RadiansPerSecond));
}

/**
* Sets the DC motor's angular position.
* Sets the angular position of the simulated DC motor mechanism.
*
* @param angularPosition The new angular position.
*/
Expand All @@ -119,171 +120,172 @@ public void setAngle(Angle angularPosition) {
}

/**
* Sets the DC motor's angular velocity.
* Sets the angular velocity of the simulated DC motor mechanism.
*
* @param angularVelocityRadPerSec The new velocity in radians per second.
* @param angularVelocityRadPerSec The new angular velocity in radians per second.
*/
public void setAngularVelocity(double angularVelocityRadPerSec) {
setState(m_angle.in(Radians), angularVelocityRadPerSec);
}

/**
* Sets the DC motor's angular velocity.
* Sets the angular velocity of the simulated DC motor mechanism.
*
* @param angularVelocity The new velocity.
* @param angularVelocity The new angular velocity.
*/
public void setAngularVelocity(AngularVelocity angularVelocity) {
setAngularVelocity(angularVelocity.in(RadiansPerSecond));
}

/**
* Returns the moment of inertia in kilograms meters squared.
* Returns the moment of inertia of the simulated DC motor mechanism.
*
* @return The DC motor's moment of inertia in kilograms meters squared.
* @return The moment of inertia of the simulated DC motor mechanism in kilogram-square meters.
*/
public double getJKgMetersSquared() {
return m_j.in(KilogramSquareMeters);
}

/**
* Returns the moment of inertia.
* Returns the moment of inertia of the simulated DC motor mechanism.
*
* @return The DC motor's moment of inertia.
* @return The moment of inertia of the simulated DC motor mechanism.
*/
public MomentOfInertia getJ() {
return m_j;
}

/**
* Returns the gearbox for the DC motor.
* Returns the gearbox of the simulated DC motor mechanism.
*
* @return The DC motor's gearbox.
* @return The gearbox of the simulated DC motor mechanism.
*/
public Gearbox getGearbox() {
return m_gearbox;
}

/**
* Returns the DC motor's position.
* Returns the angular position of the simulated DC motor mechanism.
*
* @return The DC motor's position.
* @return The angular position of the simulated DC motor mechanism in radians.
*/
public double getAngularPositionRad() {
return m_angle.in(Radians);
}

/**
* Returns the DC motor's position in rotations.
* Returns the angular position of the simulated DC motor mechanism.
*
* @return The DC motor's position in rotations.
* @return The angular position of the simulated DC motor mechanism in rotations.
*/
public double getAngularPositionRotations() {
return m_angle.in(Rotations);
}

/**
* Returns the DC motor's position.
* Returns the angular position of the simulated DC motor mechanism.
*
* @return The DC motor's position
* @return The angular position of the simulated DC motor mechanism.
*/
public Angle getAngularPosition() {
return m_angle;
}

/**
* Returns the DC motor's velocity.
* Returns the angular velocity of the simulated DC motor mechanism.
*
* @return The DC motor's velocity.
* @return The angular velocity of the simulated DC motor mechanism in radians per second.
*/
public double getAngularVelocityRadPerSec() {
return m_angularVelocity.in(RadiansPerSecond);
}

/**
* Returns the DC motor's velocity in RPM.
* Returns the angular velocity of the simulated DC motor mechanism.
*
* @return The DC motor's velocity in RPM.
* @return The angular velocity of the simulated DC motor mechanism in RPM.
*/
public double getAngularVelocityRPM() {
return m_angularVelocity.in(RPM);
}

/**
* Returns the DC motor's velocity.
* Returns the angular velocity of the simulated DC motor mechanism.
*
* @return The DC motor's velocity
* @return The angular velocity of the simulated DC motor mechanism.
*/
public AngularVelocity getAngularVelocity() {
return m_angularVelocity;
}

/**
* Returns the DC motor's acceleration in Radians Per Second Squared.
* Returns the angular acceleration of the simulated DC motor mechanism.
*
* @return The DC motor's acceleration in Radians Per Second Squared.
* @return The angular acceleration of the simulated DC motor mechanism in radians per second
* squared.
*/
public double getAngularAccelerationRadPerSecSq() {
return m_angularAcceleration.in(RadiansPerSecondPerSecond);
}

/**
* Returns the DC motor's acceleration.
* Returns the angular acceleration of the simulated DC motor mechanism.
*
* @return The DC motor's acceleration.
* @return The angular acceleration of the simulated DC motor mechanism.
*/
public AngularAcceleration getAngularAcceleration() {
return m_angularAcceleration;
}

/**
* Returns the DC motor's current draw in Amps.
* Returns the current draw of the simulated DC motor mechanism.
*
* @return The DC motor's current draw in Amps.
* @return The current draw of the simulated DC motor mechanism in amps.
*/
public double getCurrentDrawAmps() {
return m_currentDraw.in(Amps);
}

/**
* Returns the DC motor's current draw.
* Returns the current draw of the simulated DC motor mechanism.
*
* @return The DC motor's current draw.
* @return The current draw of the simulated DC motor mechanism.
*/
public Current getCurrentDraw() {
return m_currentDraw;
}

/**
* Returns the DC motor's torque in Newton-Meters.
* Returns the torque of the simulated DC motor mechanism.
*
* @return The DC motor's torque in Newton-Meters.
* @return The torque of the simulated DC motor mechanism in newton-meters.
*/
public double getTorqueNewtonMeters() {
return m_torque.in(NewtonMeters);
}

/**
* Returns the DC motor's torque.
* Returns the torque of the simulated DC motor mechanism.
*
* @return The DC motor's torque.
* @return The torque of the simulated DC motor mechanism.
*/
public Torque getTorque() {
return m_torque;
}

/**
* Returns the voltage of the DC motor in volts.
* Returns the voltage of the simulated DC motor mechanism.
*
* @return The DC motor's voltage in volts.
* @return The voltage of the simulated DC motor mechanism in volts.
*/
public double getVoltageVolts() {
public double getVolts() {
return m_voltage.in(Volts);
}

/**
* Returns the voltage of the DC motor.
* Returns the voltage of the simulated DC motor mechanism.
*
* @return The DC motor's voltage.
* @return The voltage of the simulated DC motor mechanism.
*/
public Voltage getVoltage() {
return m_voltage;
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