Class FlywheelSim

java.lang.Object

org.wpilib.simulation.LinearSystemSim<N1,N1,N1>

org.wpilib.simulation.FlywheelSim

public class FlywheelSim
extends LinearSystemSim<N1,N1,N1>

Represents a simulated flywheel mechanism.

Field Summary

Fields inherited from class LinearSystemSim

m_measurementStdDevs, m_plant, m_u, m_x, m_y

Constructor Summary

Constructors

Constructor	Description
FlywheelSim(LinearSystem<N1,N1,N1> plant, DCMotor gearbox, double... measurementStdDevs)	Creates a simulated flywheel mechanism.

Method Summary

Modifier and Type	Method	Description
double	getAngularAcceleration()	Returns the flywheel's acceleration.
double	getAngularVelocity()	Returns the flywheel's velocity.
double	getCurrentDraw()	Returns the flywheel's current draw.
DCMotor	getGearbox()	Returns the gearbox for the flywheel.
double	getGearing()	Returns the gear ratio of the flywheel.
double	getInputVoltage()	Gets the input voltage for the flywheel.
double	getJ()	Returns the moment of inertia.
double	getTorque()	Returns the flywheel's torque.
void	setAngularVelocity(double velocity)	Sets the flywheel's angular velocity.
void	setInputVoltage(double volts)	Sets the input voltage for the flywheel.

Methods inherited from class LinearSystemSim

clampInput, getInput, getInput, getOutput, getOutput, setInput, setInput, setInput, setState, update, updateX

Methods inherited from class Object

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

Constructor Details

FlywheelSim

public FlywheelSim(LinearSystem<N1,N1,N1> plant,
 DCMotor gearbox,
 double... measurementStdDevs)

Creates a simulated flywheel mechanism.

Parameters:

plant - The linear system that represents the flywheel. Use either Models.flywheelFromPhysicalConstants(DCMotor, double, double) if using physical constants or Models.flywheelFromSysId(double, double) if using system characterization.

gearbox - The type of and number of motors in the flywheel gearbox.

measurementStdDevs - The standard deviations of the measurements. Can be omitted if no noise is desired. If present must have 1 element for velocity.

Method Details

setAngularVelocity

public void setAngularVelocity(double velocity)

Sets the flywheel's angular velocity.

Parameters:

velocity - The new velocity in radians per second.

getGearing

public double getGearing()

Returns the gear ratio of the flywheel.

Returns:

the flywheel's gear ratio.

getJ

public double getJ()

Returns the moment of inertia.

Returns:

The flywheel's moment of inertia in kg-m².

getGearbox

public DCMotor getGearbox()

Returns the gearbox for the flywheel.

Returns:

The flywheel's gearbox.

getAngularVelocity

public double getAngularVelocity()

Returns the flywheel's velocity.

Returns:

The flywheel's velocity in rad/s.

getAngularAcceleration

public double getAngularAcceleration()

Returns the flywheel's acceleration.

Returns:

The flywheel's acceleration in rad/s².

getTorque

public double getTorque()

Returns the flywheel's torque.

Returns:

The flywheel's torque in Newton-meters.

getCurrentDraw

public double getCurrentDraw()

Returns the flywheel's current draw.

Returns:

The flywheel's current draw in amps.

getInputVoltage

public double getInputVoltage()

Gets the input voltage for the flywheel.

Returns:

The flywheel's input voltage.

setInputVoltage

public void setInputVoltage(double volts)

Sets the input voltage for the flywheel.

Parameters:

volts - The input voltage.