#include <SimSupplier.hpp>

Inheritance diagram for yams::motorcontrollers::SimSupplier:

[legend]

Public Member Functions
virtual	~SimSupplier ()=default

virtual void	UpdateSim ()=0

virtual bool	GetUpdatedSim ()=0

virtual void	FeedUpdateSim ()=0

virtual void	StarveUpdateSim ()=0

virtual bool	IsInputFed ()=0

virtual void	FeedInput ()=0

virtual void	StarveInput ()=0

virtual void	SetMechanismStatorDutyCycle (double dutyCycle)=0

virtual wpi::units::volt_t	GetMechanismSupplyVoltage ()=0

virtual wpi::units::volt_t	GetMechanismStatorVoltage ()=0

virtual void	SetMechanismStatorVoltage (wpi::units::volt_t volts)=0

virtual wpi::units::turn_t	GetMechanismPosition ()=0

virtual void	SetMechanismPosition (wpi::units::turn_t angle)=0

virtual wpi::units::turn_t	GetRotorPosition ()=0

virtual wpi::units::turns_per_second_t	GetMechanismVelocity ()=0

virtual void	SetMechanismVelocity (wpi::units::turns_per_second_t velocity)=0

virtual wpi::units::turns_per_second_t	GetRotorVelocity ()=0

virtual wpi::units::turns_per_second_squared_t	GetMechanismAcceleration ()=0

virtual wpi::units::turns_per_second_squared_t	GetRotorAcceleration ()=0

virtual void	SetRotorPosition (wpi::units::turn_t angle)=0

virtual void	SetRotorVelocity (wpi::units::turns_per_second_t velocity)=0

virtual wpi::units::ampere_t	GetStatorCurrent ()=0

virtual wpi::units::ampere_t	GetSupplyCurrent ()=0

Detailed Description

Abstract interface for simulation state providers.

Implementors feed simulated mechanism and rotor positions/velocities back into a SmartMotorController during simulation iterations.

Constructor & Destructor Documentation

◆ ~SimSupplier()

virtual yams::motorcontrollers::SimSupplier::~SimSupplier ( )

virtualdefault

Member Function Documentation

◆ FeedInput()

virtual void yams::motorcontrollers::SimSupplier::FeedInput ( )

pure virtual

Mark the input as supplied directly for this loop.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ FeedUpdateSim()

virtual void yams::motorcontrollers::SimSupplier::FeedUpdateSim ( )

pure virtual

Mark the simulation as stepped for this loop.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ GetMechanismAcceleration()

virtual wpi::units::turns_per_second_squared_t yams::motorcontrollers::SimSupplier::GetMechanismAcceleration ( )

pure virtual

Get the simulated mechanism angular acceleration.

Returns: Mechanism acceleration in turns per second squared.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ GetMechanismPosition()

virtual wpi::units::turn_t yams::motorcontrollers::SimSupplier::GetMechanismPosition ( )

pure virtual

Get the simulated mechanism position.

Returns: Mechanism position in turns.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ GetMechanismStatorVoltage()

virtual wpi::units::volt_t yams::motorcontrollers::SimSupplier::GetMechanismStatorVoltage ( )

pure virtual

Get the voltage applied to the simulated motor.

Returns: Stator voltage in volts.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ GetMechanismSupplyVoltage()

virtual wpi::units::volt_t yams::motorcontrollers::SimSupplier::GetMechanismSupplyVoltage ( )

pure virtual

Get the supply voltage available to the simulated motor controller (bus voltage).

Returns: Supply voltage in volts.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ GetMechanismVelocity()

virtual wpi::units::turns_per_second_t yams::motorcontrollers::SimSupplier::GetMechanismVelocity ( )

pure virtual

Get the simulated mechanism velocity.

Returns: Mechanism velocity in turns per second.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ GetRotorAcceleration()

virtual wpi::units::turns_per_second_squared_t yams::motorcontrollers::SimSupplier::GetRotorAcceleration ( )

pure virtual

Get the simulated rotor angular acceleration.

Returns: Rotor acceleration in turns per second squared.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ GetRotorPosition()

virtual wpi::units::turn_t yams::motorcontrollers::SimSupplier::GetRotorPosition ( )

pure virtual

Get the simulated rotor position.

Returns: Rotor position in turns.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ GetRotorVelocity()

virtual wpi::units::turns_per_second_t yams::motorcontrollers::SimSupplier::GetRotorVelocity ( )

pure virtual

Get the simulated rotor velocity.

Returns: Rotor velocity in turns per second.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ GetStatorCurrent()

virtual wpi::units::ampere_t yams::motorcontrollers::SimSupplier::GetStatorCurrent ( )

pure virtual

Get the simulated stator (motor) current.

Returns: Stator current in amperes.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ GetSupplyCurrent()

virtual wpi::units::ampere_t yams::motorcontrollers::SimSupplier::GetSupplyCurrent ( )

pure virtual

Get the simulated supply (battery) current: duty cycle times stator current, filtered by a 0.1 s single-pole IIR filter.

Returns: Supply current in amperes.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ GetUpdatedSim()

virtual bool yams::motorcontrollers::SimSupplier::GetUpdatedSim ( )

pure virtual

Whether the simulation has already been stepped this loop.

Returns: true if UpdateSim() stepped the physics since the last StarveUpdateSim().

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ IsInputFed()

virtual bool yams::motorcontrollers::SimSupplier::IsInputFed ( )

pure virtual

Whether an input voltage was supplied directly this loop (e.g. from a hardware sim state).

Returns: true if the input was fed since the simulation last stepped.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ SetMechanismPosition()

virtual void yams::motorcontrollers::SimSupplier::SetMechanismPosition ( wpi::units::turn_t angle )

pure virtual

Set the simulated mechanism position.

Parameters

angle Mechanism position to inject.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ SetMechanismStatorDutyCycle()

virtual void yams::motorcontrollers::SimSupplier::SetMechanismStatorDutyCycle ( double dutyCycle )

pure virtual

Apply a duty cycle of the supply voltage as the motor input (feeds the input).

Parameters

dutyCycle Duty cycle in [-1, 1].

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ SetMechanismStatorVoltage()

virtual void yams::motorcontrollers::SimSupplier::SetMechanismStatorVoltage ( wpi::units::volt_t volts )

pure virtual

Set the motor input voltage directly, e.g. from a hardware sim state (feeds the input).

Parameters

volts Voltage to apply.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ SetMechanismVelocity()

virtual void yams::motorcontrollers::SimSupplier::SetMechanismVelocity ( wpi::units::turns_per_second_t velocity )

pure virtual

Set the simulated mechanism velocity.

Parameters

velocity Mechanism velocity to inject.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ SetRotorPosition()

virtual void yams::motorcontrollers::SimSupplier::SetRotorPosition ( wpi::units::turn_t angle )

pure virtual

Set the simulated rotor position.

Parameters

angle Rotor position to inject.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ SetRotorVelocity()

virtual void yams::motorcontrollers::SimSupplier::SetRotorVelocity ( wpi::units::turns_per_second_t velocity )

pure virtual

Set the simulated rotor velocity.

Parameters

velocity Rotor velocity to inject.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ StarveInput()

virtual void yams::motorcontrollers::SimSupplier::StarveInput ( )

pure virtual

Clear the input-fed flag so UpdateSim() falls back to the duty-cycle supplier.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ StarveUpdateSim()

virtual void yams::motorcontrollers::SimSupplier::StarveUpdateSim ( )

pure virtual

Clear the stepped flag so the next UpdateSim() steps the physics again.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

◆ UpdateSim()

virtual void yams::motorcontrollers::SimSupplier::UpdateSim ( )

pure virtual

Advance the simulation by one loop iteration.

When the input has not been fed this loop (see FeedInput()), the motor duty cycle times the supply voltage is applied as the input and the battery voltage is updated. The physics are only stepped if the simulation has not already been updated this loop (see GetUpdatedSim()); stepping marks it updated, so a mechanism and its motor controller calling UpdateSim() in the same loop step the physics once.

Implemented in yams::motorcontrollers::simulation::ArmSimSupplier, yams::motorcontrollers::simulation::DCMotorSimSupplier, and yams::motorcontrollers::simulation::ElevatorSimSupplier.

The documentation for this class was generated from the following file:

/home/runner/work/YAMS/YAMS/yams/cpp/include/yams/motorcontrollers/SimSupplier.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~SimSupplier()

Member Function Documentation

◆ FeedInput()

◆ FeedUpdateSim()

◆ GetMechanismAcceleration()

◆ GetMechanismPosition()

◆ GetMechanismStatorVoltage()

◆ GetMechanismSupplyVoltage()

◆ GetMechanismVelocity()

◆ GetRotorAcceleration()

◆ GetRotorPosition()

◆ GetRotorVelocity()

◆ GetStatorCurrent()

◆ GetSupplyCurrent()

◆ GetUpdatedSim()

◆ IsInputFed()

◆ SetMechanismPosition()

◆ SetMechanismStatorDutyCycle()

◆ SetMechanismStatorVoltage()

◆ SetMechanismVelocity()

◆ SetRotorPosition()

◆ SetRotorVelocity()

◆ StarveInput()

◆ StarveUpdateSim()

◆ UpdateSim()