DCMotor, Gearbox, Flywheel review drafts

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSimTorque.java

@@ -74,7 +74,7 @@ public void update(double dtSeconds) {
     super.update(dtSeconds);
     m_currentDraw.mut_replace(
         m_gearbox.currentAmps(getInput(0)) * Math.signum(m_u.get(0, 0)), Amps);
-    m_voltage.mut_replace(m_gearbox.voltageVolts(getInput(0), m_x.get(1, 0)), Volts);
+    m_voltage.mut_replace(m_gearbox.voltage(getInput(0), m_x.get(1, 0)), Volts);
     m_torque.mut_replace(getInput(0), NewtonMeters);
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSim.java

@@ -12,6 +12,7 @@
 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;
 
@@ -20,14 +21,20 @@ public class FlywheelSim extends FlywheelSimBase {
   /**
    * Creates a simulated flywheel mechanism controlled by voltage input.
    *
-   * @param plant The linear system that represents the flywheel controlled by voltage input. Use
-   *     either {@link LinearSystemId#createFlywheelSystem(Gearbox, double)} or {@link
-   *     LinearSystemId#createFlywheelSystem(Gearbox, MomentOfInertia)} if using physical constants
-   *     or {@link LinearSystemId#identifyVelocitySystem(double, double)} if using system
-   *     characterization.
-   * @param gearbox The type of and number of motors in the flywheel gearbox.
+   * <p>If using physical constants create the plant using either {@link
+   * LinearSystemId#createFlywheelSystem(Gearbox, double)} or {@link
+   * LinearSystemId#createFlywheelSystem(Gearbox, MomentOfInertia)}.
+   *
+   * <p>If using system characterization create the plant using either {@link
+   * LinearSystemId#identifyVelocitySystem(double, double)} or {@link
+   * LinearSystem#identifyVelocitySystem(Measure, Measure)}.
+   *
+   * @param plant The linear system that represents the simulated flywheel mechanism controlled by
+   *     voltage input.
+   * @param gearbox The gearbox of the simulated flywheel mechanism.
    * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
-   *     noise is desired. If present must have 1 element for velocity.
+   *     noise is desired. If present must have 1 element for velocity. The units should be radians
+   *     per second.
    */
   public FlywheelSim(
       LinearSystem<N1, N1, N1> plant, Gearbox gearbox, double... measurementStdDevs) {
@@ -56,9 +63,9 @@ public FlywheelSim(
   }
 
   /**
-   * Sets the input voltage for the flywheel.
+   * Sets the input voltage of the simulated flywheel mechanism.
    *
-   * @param volts The input voltage.
+   * @param volts The input voltage in volts.
    */
   public void setInputVoltage(double volts) {
     setInput(volts);
@@ -67,7 +74,7 @@ public void setInputVoltage(double volts) {
   }
 
   /**
-   * Sets the input voltage for the flywheel.
+   * Sets the input voltage of the simulated flywheel mechanism.
    *
    * @param voltage The input voltage.
    */

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSimBase.java

@@ -28,38 +28,39 @@
 import edu.wpi.first.units.measure.Torque;
 import edu.wpi.first.units.measure.Voltage;
 
-/** Represents a simulated flywheel mechanism. */
+/** The base class for a simulated flywheel mechanism. */
 public abstract class FlywheelSimBase extends LinearSystemSim<N1, N1, N1> {
-  /** Gearbox for the flywheel. */
+  /** The gearbox of the simulated flywheel mechanism. */
   protected final Gearbox m_gearbox;
 
-  /** The moment of inertia for the flywheel mechanism. */
+  /** The moment of inertia of simulated the flywheel mechanism. */
   private final MomentOfInertia m_j;
 
-  /** The angular velocity of the flywheel mechanism. */
+  /** The angular velocity of the simulated flywheel mechanism. */
   protected final MutAngularVelocity m_angularVelocity = RadiansPerSecond.mutable(0.0);
 
-  /** The angular acceleration of the flywheel mechanism. */
+  /** The angular acceleration of the simulated flywheel mechanism. */
   private final MutAngularAcceleration m_angularAcceleration =
       RadiansPerSecondPerSecond.mutable(0.0);
 
-  /** The current draw of flywheel. */
+  /** The current draw of the simulated flywheel mechanism. */
   protected final MutCurrent m_currentDraw = Amps.mutable(0.0);
 
-  /** The voltage of the flywheel. */
+  /** The voltage of the simulated flywheel mechanism. */
   protected final MutVoltage m_voltage = Volts.mutable(0.0);
 
-  /** The torque on the flywheel. */
+  /** The torque of the simulated flywheel mechanism. */
   protected final MutTorque m_torque = NewtonMeters.mutable(0.0);
 
   /**
    * Creates a simulated flywheel mechanism.
    *
-   * @param plant The linear system that represents the flywheel.
-   * @param gearbox The type of and number of motors in the flywheel gearbox.
-   * @param J The moment of inertia for the flywheel mechanism.
+   * @param plant The linear system that represents the simulated flywheel mechanism.
+   * @param gearbox The gearbox of the simulated flywheel mechanism.
+   * @param J The moment of inertia of the simulated flywheel mechanism.
    * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
-   *     noise is desired. If present must have 1 element for velocity.
+   *     noise is desired. If present must have 1 element for velocity. The units should be radians
+   *     per second.
    */
   public FlywheelSimBase(
       LinearSystem<N1, N1, N1> plant,
@@ -72,7 +73,7 @@ public FlywheelSimBase(
   }
 
   /**
-   * Sets the flywheel's angular velocity.
+   * Sets the angular velocity of the simulated flywheel mechanism.
    *
    * @param velocityRadPerSec The new angular velocity in radians per second.
    */
@@ -81,7 +82,7 @@ public void setAngularVelocity(double velocityRadPerSec) {
   }
 
   /**
-   * Sets the flywheel's angular velocity.
+   * Sets the angular velocity of the simulated flywheel mechanism.
    *
    * @param velocity The new angular velocity.
    */
@@ -90,126 +91,126 @@ public void setAngularVelocity(AngularVelocity velocity) {
   }
 
   /**
-   * Returns the moment of inertia in kilograms meters squared.
+   * Returns the moment of inertia of the simulated flywheel mechanism.
    *
-   * @return The flywheel's moment of inertia.
+   * @return The moment of inertia of the simulated flywheel 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 simulatd flywheel mechanism.
    *
-   * @return The flywheel's moment of inertia.
+   * @return The moment of inertia of the simulated flywheel mechanism.
    */
   public MomentOfInertia getJ() {
     return m_j;
   }
 
   /**
-   * Returns the gearbox for the flywheel.
+   * Returns the gearbox of the simulated flywheel mechanism.
    *
-   * @return The flywheel's gearbox.
+   * @return The gearbox of the simulated flywheel mechanism.
    */
   public Gearbox getGearbox() {
     return m_gearbox;
   }
 
   /**
-   * Returns the flywheel's velocity in Radians Per Second.
+   * Returns the angular velocity of the simulated flywheel mechanism.
    *
-   * @return The flywheel's velocity in Radians Per Second.
+   * @return The angular velocity of the simulated flywheel mechanism in radians per second.
    */
   public double getAngularVelocityRadPerSec() {
     return m_angularVelocity.in(RadiansPerSecond);
   }
 
   /**
-   * Returns the flywheel's velocity in RPM.
+   * Returns the angular velocity of the simulated flywheel mechanism.
    *
-   * @return The flywheel's velocity in RPM.
+   * @return The angular velocity of the simulated flywheel mechanism in RPM.
    */
   public double getAngularVelocityRPM() {
     return m_angularVelocity.in(RPM);
   }
 
   /**
-   * Returns the flywheel's velocity.
+   * Returns the angular velocity of the simulated flywheel mechanism.
    *
-   * @return The flywheel's velocity
+   * @return The angular velocity of the simulated flywheel mechanism.
    */
   public AngularVelocity getAngularVelocity() {
     return m_angularVelocity;
   }
 
   /**
-   * Returns the flywheel's acceleration in Radians Per Second Squared.
+   * Returns the angular acceleration of the simulated flywheel mechanism.
    *
-   * @return The flywheel's acceleration in Radians Per Second Squared.
+   * @return The angular acceleration of the simulated flywheel mechanism in radians per squared.
    */
   public double getAngularAccelerationRadPerSecSq() {
     return m_angularAcceleration.in(RadiansPerSecondPerSecond);
   }
 
   /**
-   * Returns the flywheel's acceleration.
+   * Returns the angular acceleration of the simulated flywheel mechanism.
    *
-   * @return The flywheel's acceleration.
+   * @return The angular acceleration of the simulated flywheel mechanism.
    */
   public AngularAcceleration getAngularAcceleration() {
     return m_angularAcceleration;
   }
 
   /**
-   * Returns the flywheel's current draw in Amps.
+   * Returns the current draw of the simulated flywheel mechanism.
    *
-   * @return The flywheel's current draw in Amps.
+   * @return The current draw of the simulated flywheel mechanism in amps.
    */
   public double getCurrentDrawAmps() {
     return m_currentDraw.in(Amps);
   }
 
   /**
-   * Returns the flywheel's current draw.
+   * Returns the current draw of the simulated flywheel mechanism.
    *
-   * @return The flywheel's current draw.
+   * @return The current draw of the simulated flywheel mechanism.
    */
   public Current getCurrentDraw() {
     return m_currentDraw;
   }
 
   /**
-   * Returns the flywheel's torque in Newton-Meters.
+   * Returns the torque of the simulated flywheel mechanism.
    *
-   * @return The flywheel's torque in Newton-Meters.
+   * @return The torque of the simulated flywheel mechanism in newton-meters.
    */
   public double getTorqueNewtonMeters() {
     return m_torque.in(NewtonMeters);
   }
 
   /**
-   * Returns the flywheel's torque.
+   * Returns the torque of the simulated flywheel mechanism.
    *
-   * @return The flywheel's torque.
+   * @return The torque of the simulated flywheel mechanism.
    */
   public Torque getTorque() {
     return m_torque;
   }
 
   /**
-   * Returns the voltage of the flywheel in volts.
+   * Returns the voltage of the simulated flywheel mechanism.
    *
-   * @return The flywheel's voltage in volts.
+   * @return The voltage of the simulated flywheel mechanism in volts.
    */
   public double getVoltageVolts() {
     return m_voltage.in(Volts);
   }
 
   /**
-   * Returns the voltage of the flywheel.
+   * Returns the voltage of the simulated flywheel mechanism.
    *
-   * @return The flywheel's voltage.
+   * @return The voltage of the simulated flywheel mechanism.
    */
   public Voltage getVoltage() {
     return m_voltage;

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/FlywheelSimTorque.java

@@ -13,20 +13,29 @@
 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;
+import edu.wpi.first.units.measure.MomentOfInertia;
 import edu.wpi.first.units.measure.Torque;
 
 /** Represents a simulated flywheel mechanism controlled by torque input. */
 public class FlywheelSimTorque extends FlywheelSimBase {
   /**
    * Creates a simulated flywheel mechanism controlled by torque input.
    *
-   * @param plant The linear system that represents the flywheel controlled by torque input. Use
-   *     either {@link LinearSystemId#createFlywheelTorqueSystem(double)} if using physical
-   *     constants or {@link LinearSystemId#identifyVelocitySystem(double, double)} if using system
-   *     characterization.
-   * @param gearbox The type of and number of motors in the flywheel gearbox.
+   * <p>If using physical constants create the plant using either {@link
+   * LinearSystemId#createFlywheelSystem(double)} or {@link
+   * LinearSystemId#createFlywheelSystem(MomentOfInertia)}.
+   *
+   * <p>If using system characterization create the plant using either {@link
+   * LinearSystemId#identifyVelocitySystem(double, double)} or {@link
+   * LinearSystem#identifyVelocitySystem(Measure, Measure)}.
+   *
+   * @param plant The linear system that represents the simulated flywheel mechanism controlled by
+   *     torque input.
+   * @param gearbox The gearbox of the simulated flywheel mechanism.
    * @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no
-   *     noise is desired. If present must have 1 element for velocity.
+   *     noise is desired. If present must have 1 element for velocity. The units should be radians
+   *     per second.
    */
   public FlywheelSimTorque(
       LinearSystem<N1, N1, N1> plant, Gearbox gearbox, double... measurementStdDevs) {
@@ -48,18 +57,18 @@ public FlywheelSimTorque(
   }
 
   /**
-   * Sets the input torque for the flywheel.
+   * Sets the input torque of the simulated flywheel mechanism.
    *
-   * @param torqueNM The input torque in Newton-Meters.
+   * @param torqueNewtonMeters The input torque in newton-meters.
    */
-  public void setInputTorque(double torqueNM) {
-    setInput(torqueNM);
+  public void setInputTorque(double torqueNewtonMeters) {
+    setInput(torqueNewtonMeters);
     // TODO: Need some guidance on clamping.
     m_torque.mut_replace(m_u.get(0, 0), NewtonMeters);
   }
 
   /**
-   * Sets the input torque for the flywheel.
+   * Sets the input torque of the simulated flywheel mechanism.
    *
    * @param torque The input torque.
    */
@@ -72,7 +81,7 @@ public void update(double dtSeconds) {
     super.update(dtSeconds);
     m_currentDraw.mut_replace(
         m_gearbox.currentAmps(getInput(0)) * Math.signum(m_u.get(0, 0)), Amps);
-    m_voltage.mut_replace(m_gearbox.voltageVolts(getInput(0), m_x.get(0, 0)), Volts);
+    m_voltage.mut_replace(m_gearbox.voltage(getInput(0), m_x.get(0, 0)), Volts);
     m_torque.mut_replace(getInput(0), NewtonMeters);
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTorque.java

@@ -236,7 +236,7 @@ public void update(double dtSeconds) {
     super.update(dtSeconds);
     m_currentDraw.mut_replace(
         m_gearbox.currentAmps(getInput(0)) * Math.signum(m_u.get(0, 0)), Amps);
-    m_voltage.mut_replace(m_gearbox.voltageVolts(getInput(0), m_x.get(1, 0)), Volts);
+    m_voltage.mut_replace(m_gearbox.voltage(getInput(0), m_x.get(1, 0)), Volts);
     m_torque.mut_replace(getInput(0), NewtonMeters);
   }
 }