#include <DCMotorSimSupplier.hpp>

Inheritance diagram for yams::motorcontrollers::simulation::DCMotorSimSupplier:

Collaboration diagram for yams::motorcontrollers::simulation::DCMotorSimSupplier:

Public Member Functions
	DCMotorSimSupplier (wpi::sim::DCMotorSim &sim, SmartMotorController &smc)

void	UpdateSim () override

bool	GetUpdatedSim () override

void	FeedUpdateSim () override

void	StarveUpdateSim () override

bool	IsInputFed () override

void	FeedInput () override

void	StarveInput () override

void	SetMechanismStatorDutyCycle (double dutyCycle) override

wpi::units::volt_t	GetMechanismSupplyVoltage () override

wpi::units::volt_t	GetMechanismStatorVoltage () override

void	SetMechanismStatorVoltage (wpi::units::volt_t volts) override

wpi::units::turn_t	GetMechanismPosition () override

wpi::units::turns_per_second_t	GetMechanismVelocity () override

wpi::units::turns_per_second_squared_t	GetMechanismAcceleration () override

wpi::units::turn_t	GetRotorPosition () override

wpi::units::turns_per_second_t	GetRotorVelocity () override

wpi::units::turns_per_second_squared_t	GetRotorAcceleration () override

void	SetMechanismPosition (wpi::units::turn_t angle) override

void	SetMechanismVelocity (wpi::units::turns_per_second_t velocity) override

void	SetRotorPosition (wpi::units::turn_t angle) override

void	SetRotorVelocity (wpi::units::turns_per_second_t velocity) override

wpi::units::ampere_t	GetStatorCurrent () override

wpi::units::ampere_t	GetSupplyCurrent () override

Public Member Functions inherited from yams::motorcontrollers::SimSupplier
virtual	~SimSupplier ()=default

Detailed Description

SimSupplier backed by a WPILib DCMotorSim.

Suitable for flywheel- and pivot-style mechanisms that use a simple DC motor physics model. The duty cycle is read from the motor controller each iteration unless an input voltage has been fed this loop.

Constructor & Destructor Documentation

◆ DCMotorSimSupplier()

yams::motorcontrollers::simulation::DCMotorSimSupplier::DCMotorSimSupplier	(	wpi::sim::DCMotorSim &	sim,
		SmartMotorController &	smc
	)

Create a DCMotorSimSupplier.

The duty cycle, gearing, simulation period and DC motor are read from smc and its config. The supplier's current draw is tracked in BatterySim under smc.

Parameters

sim	WPILib simulation to advance each loop (must outlive this supplier).
smc	SmartMotorController driving the simulation (must outlive this supplier).

Member Function Documentation

◆ FeedInput()

void yams::motorcontrollers::simulation::DCMotorSimSupplier::FeedInput ( )

overridevirtual

Mark the input as supplied directly for this loop.

Implements yams::motorcontrollers::SimSupplier.

◆ FeedUpdateSim()

void yams::motorcontrollers::simulation::DCMotorSimSupplier::FeedUpdateSim ( )

overridevirtual

Mark the simulation as stepped for this loop.

Implements yams::motorcontrollers::SimSupplier.

◆ GetMechanismAcceleration()

wpi::units::turns_per_second_squared_t yams::motorcontrollers::simulation::DCMotorSimSupplier::GetMechanismAcceleration ( )

overridevirtual

Get the simulated mechanism angular acceleration.

Returns: Mechanism acceleration in turns per second squared.

Implements yams::motorcontrollers::SimSupplier.

◆ GetMechanismPosition()

wpi::units::turn_t yams::motorcontrollers::simulation::DCMotorSimSupplier::GetMechanismPosition ( )

overridevirtual

Get the simulated mechanism position.

Returns: Mechanism position in turns.

Implements yams::motorcontrollers::SimSupplier.

◆ GetMechanismStatorVoltage()

wpi::units::volt_t yams::motorcontrollers::simulation::DCMotorSimSupplier::GetMechanismStatorVoltage ( )

overridevirtual

Get the voltage applied to the simulated motor.

Returns: Stator voltage in volts.

Implements yams::motorcontrollers::SimSupplier.

◆ GetMechanismSupplyVoltage()

wpi::units::volt_t yams::motorcontrollers::simulation::DCMotorSimSupplier::GetMechanismSupplyVoltage ( )

overridevirtual

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

Returns: Supply voltage in volts.

Implements yams::motorcontrollers::SimSupplier.

◆ GetMechanismVelocity()

wpi::units::turns_per_second_t yams::motorcontrollers::simulation::DCMotorSimSupplier::GetMechanismVelocity ( )

overridevirtual

Get the simulated mechanism velocity.

Returns: Mechanism velocity in turns per second.

Implements yams::motorcontrollers::SimSupplier.

◆ GetRotorAcceleration()

wpi::units::turns_per_second_squared_t yams::motorcontrollers::simulation::DCMotorSimSupplier::GetRotorAcceleration ( )

overridevirtual

Get the simulated rotor angular acceleration.

Returns: Rotor acceleration in turns per second squared.

Implements yams::motorcontrollers::SimSupplier.

◆ GetRotorPosition()

wpi::units::turn_t yams::motorcontrollers::simulation::DCMotorSimSupplier::GetRotorPosition ( )

overridevirtual

Get the simulated rotor position.

Returns: Rotor position in turns.

Implements yams::motorcontrollers::SimSupplier.

◆ GetRotorVelocity()

wpi::units::turns_per_second_t yams::motorcontrollers::simulation::DCMotorSimSupplier::GetRotorVelocity ( )

overridevirtual

Get the simulated rotor velocity.

Returns: Rotor velocity in turns per second.

Implements yams::motorcontrollers::SimSupplier.

◆ GetStatorCurrent()

wpi::units::ampere_t yams::motorcontrollers::simulation::DCMotorSimSupplier::GetStatorCurrent ( )

overridevirtual

Get the simulated stator (motor) current.

Returns: Stator current in amperes.

Implements yams::motorcontrollers::SimSupplier.

◆ GetSupplyCurrent()

wpi::units::ampere_t yams::motorcontrollers::simulation::DCMotorSimSupplier::GetSupplyCurrent ( )

overridevirtual

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.

Implements yams::motorcontrollers::SimSupplier.

◆ GetUpdatedSim()

bool yams::motorcontrollers::simulation::DCMotorSimSupplier::GetUpdatedSim ( )

overridevirtual

Whether the simulation has already been stepped this loop.

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

Implements yams::motorcontrollers::SimSupplier.

◆ IsInputFed()

bool yams::motorcontrollers::simulation::DCMotorSimSupplier::IsInputFed ( )

overridevirtual

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.

Implements yams::motorcontrollers::SimSupplier.

◆ SetMechanismPosition()

void yams::motorcontrollers::simulation::DCMotorSimSupplier::SetMechanismPosition ( wpi::units::turn_t angle )

overridevirtual

Set the simulated mechanism position.

Parameters

angle Mechanism position to inject.

Implements yams::motorcontrollers::SimSupplier.

◆ SetMechanismStatorDutyCycle()

void yams::motorcontrollers::simulation::DCMotorSimSupplier::SetMechanismStatorDutyCycle ( double dutyCycle )

overridevirtual

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

Parameters

dutyCycle Duty cycle in [-1, 1].

Implements yams::motorcontrollers::SimSupplier.

◆ SetMechanismStatorVoltage()

void yams::motorcontrollers::simulation::DCMotorSimSupplier::SetMechanismStatorVoltage ( wpi::units::volt_t volts )

overridevirtual

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

Parameters

volts Voltage to apply.

Implements yams::motorcontrollers::SimSupplier.

◆ SetMechanismVelocity()

void yams::motorcontrollers::simulation::DCMotorSimSupplier::SetMechanismVelocity ( wpi::units::turns_per_second_t velocity )

overridevirtual

Set the simulated mechanism velocity.

Parameters

velocity Mechanism velocity to inject.

Implements yams::motorcontrollers::SimSupplier.

◆ SetRotorPosition()

void yams::motorcontrollers::simulation::DCMotorSimSupplier::SetRotorPosition ( wpi::units::turn_t angle )

overridevirtual

Set the simulated rotor position.

Parameters

angle Rotor position to inject.

Implements yams::motorcontrollers::SimSupplier.

◆ SetRotorVelocity()

void yams::motorcontrollers::simulation::DCMotorSimSupplier::SetRotorVelocity ( wpi::units::turns_per_second_t velocity )

overridevirtual

Set the simulated rotor velocity.

Parameters

velocity Rotor velocity to inject.

Implements yams::motorcontrollers::SimSupplier.

◆ StarveInput()

void yams::motorcontrollers::simulation::DCMotorSimSupplier::StarveInput ( )

overridevirtual

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

Implements yams::motorcontrollers::SimSupplier.

◆ StarveUpdateSim()

void yams::motorcontrollers::simulation::DCMotorSimSupplier::StarveUpdateSim ( )

overridevirtual

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

Implements yams::motorcontrollers::SimSupplier.

◆ UpdateSim()

void yams::motorcontrollers::simulation::DCMotorSimSupplier::UpdateSim ( )

overridevirtual

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.

Implements yams::motorcontrollers::SimSupplier.

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

/home/runner/work/YAMS/YAMS/yams/cpp/include/yams/motorcontrollers/simulation/DCMotorSimSupplier.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ DCMotorSimSupplier()

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()