Package yams.motorcontrollers.simulation

Class ArmSimSupplier

java.lang.Object

yams.motorcontrollers.simulation.ArmSimSupplier

All Implemented Interfaces:

SimSupplier

public class ArmSimSupplier
extends Object
implements SimSupplier

ArmSim Supplier

Constructor Summary

Constructors

Constructor	Description
ArmSimSupplier(SingleJointedArmSim simulation, SmartMotorController smartMotorController)	Construct the ArmSim supplier

Method Summary

Modifier and Type	Method	Description
void	feedInput()	Feed input
void	feedUpdateSim()	Feed the update sim watch
Current	getCurrentDraw()	Get the current draw of from the sim.
Angle	getMechanismPosition()	Get the mechanism position.
Voltage	getMechanismStatorVoltage()	Get the mechanism stator voltage.
Voltage	getMechanismSupplyVoltage()	Gets the supply voltage for the motor controller.
AngularVelocity	getMechanismVelocity()	Get the mechanism velocity.
AngularAcceleration	getRotorAcceleration()	Get the rotor acceleration.
Angle	getRotorPosition()	Get the rotor position.
AngularVelocity	getRotorVelocity()	Get the rotor velocity.
boolean	getUpdatedSim()	Get the updated sim watchdog.
boolean	isInputFed()	Check if the input was fed.
void	setMechanismPosition(Angle position)	Set the Mechanism position
void	setMechanismStatorDutyCycle(double dutyCycle)	Set the dutycyle of the mechanism stator.
void	setMechanismStatorVoltage(Voltage volts)	Set mechanism voltage, mostly used for SysId testing.
void	setMechanismVelocity(AngularVelocity velocity)	Set the Mechanism velocity.
void	starveInput()	Starve the input.
void	starveUpdateSim()	Starve the update sim watch.
void	updateSimState()	Update the sim state.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

ArmSimSupplier

public ArmSimSupplier(SingleJointedArmSim simulation,
 SmartMotorController smartMotorController)

Construct the ArmSim supplier

Parameters:

simulation - Simulatoin instance

smartMotorController - SMC for the ArmSim..

Method Details

updateSimState

public void updateSimState()

Description copied from interface: SimSupplier

Update the sim state.

Specified by:

updateSimState in interface SimSupplier

getUpdatedSim

public boolean getUpdatedSim()

Description copied from interface: SimSupplier

Get the updated sim watchdog.

Specified by:

getUpdatedSim in interface SimSupplier

Returns:

Updated sim.

feedUpdateSim

public void feedUpdateSim()

Description copied from interface: SimSupplier

Feed the update sim watch

Specified by:

feedUpdateSim in interface SimSupplier

starveUpdateSim

public void starveUpdateSim()

Description copied from interface: SimSupplier

Starve the update sim watch.

Specified by:

starveUpdateSim in interface SimSupplier

isInputFed

public boolean isInputFed()

Description copied from interface: SimSupplier

Check if the input was fed.

Specified by:

isInputFed in interface SimSupplier

Returns:

Input fed.

feedInput

public void feedInput()

Description copied from interface: SimSupplier

Feed input

Specified by:

feedInput in interface SimSupplier

starveInput

public void starveInput()

Description copied from interface: SimSupplier

Starve the input.

Specified by:

starveInput in interface SimSupplier

setMechanismStatorDutyCycle

public void setMechanismStatorDutyCycle(double dutyCycle)

Description copied from interface: SimSupplier

Set the dutycyle of the mechanism stator.

Specified by:

setMechanismStatorDutyCycle in interface SimSupplier

Parameters:

dutyCycle - Dutycycle value.

getMechanismSupplyVoltage

public Voltage getMechanismSupplyVoltage()

Description copied from interface: SimSupplier

Gets the supply voltage for the motor controller.

Specified by:

getMechanismSupplyVoltage in interface SimSupplier

Returns:

Supply voltage to the motor controller

getMechanismStatorVoltage

public Voltage getMechanismStatorVoltage()

Description copied from interface: SimSupplier

Get the mechanism stator voltage.

Specified by:

getMechanismStatorVoltage in interface SimSupplier

Returns:

Stator voltage of the mechanism.

setMechanismStatorVoltage

public void setMechanismStatorVoltage(Voltage volts)

Description copied from interface: SimSupplier

Set mechanism voltage, mostly used for SysId testing.

Specified by:

setMechanismStatorVoltage in interface SimSupplier

Parameters:

volts - Voltage to set.

getMechanismPosition

public Angle getMechanismPosition()

Description copied from interface: SimSupplier

Get the mechanism position.

Specified by:

getMechanismPosition in interface SimSupplier

Returns:

mechanism angle.

setMechanismPosition

public void setMechanismPosition(Angle position)

Description copied from interface: SimSupplier

Set the Mechanism position

Specified by:

setMechanismPosition in interface SimSupplier

Parameters:

position - Position of the mechanism.

getRotorPosition

public Angle getRotorPosition()

Description copied from interface: SimSupplier

Get the rotor position.

Specified by:

getRotorPosition in interface SimSupplier

Returns:

rotor position.

getMechanismVelocity

public AngularVelocity getMechanismVelocity()

Description copied from interface: SimSupplier

Get the mechanism velocity.

Specified by:

getMechanismVelocity in interface SimSupplier

Returns:

Mechanism velocity.

setMechanismVelocity

public void setMechanismVelocity(AngularVelocity velocity)

Description copied from interface: SimSupplier

Set the Mechanism velocity.

Specified by:

setMechanismVelocity in interface SimSupplier

Parameters:

velocity - Mechanism velocity.

getRotorVelocity

public AngularVelocity getRotorVelocity()

Description copied from interface: SimSupplier

Get the rotor velocity.

Specified by:

getRotorVelocity in interface SimSupplier

Returns:

rotor velocity.

getCurrentDraw

public Current getCurrentDraw()

Description copied from interface: SimSupplier

Get the current draw of from the sim.

Specified by:

getCurrentDraw in interface SimSupplier

Returns:

Current draw.

getRotorAcceleration

public AngularAcceleration getRotorAcceleration()

Description copied from interface: SimSupplier

Get the rotor acceleration.

Specified by:

getRotorAcceleration in interface SimSupplier

Returns:

Rotor acceleration.