Package com.flarerobotics.lib.sim

Class ElevatorSimTilted

java.lang.Object
edu.wpi.first.wpilibj.simulation.LinearSystemSim<edu.wpi.first.math.numbers.N2,edu.wpi.first.math.numbers.N1,edu.wpi.first.math.numbers.N2>
com.flarerobotics.lib.sim.ElevatorSimTilted
public class ElevatorSimTilted extends edu.wpi.first.wpilibj.simulation.LinearSystemSim<edu.wpi.first.math.numbers.N2,edu.wpi.first.math.numbers.N1,edu.wpi.first.math.numbers.N2>
Represents a simulated elevator mechanism. Allows for the use of non-90 degree tilted systems.

  • Field Summary

    Fields inherited from class edu.wpi.first.wpilibj.simulation.LinearSystemSim

    m_measurementStdDevs, m_plant, m_u, m_x, m_y

  • Constructor Summary

    Constructors
    Constructor
    Description
    ElevatorSimTilted(double kV, double kA, edu.wpi.first.math.system.plant.DCMotor gearbox, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters, double... measurementStdDevs)
    Creates a simulated elevator mechanism.
    ElevatorSimTilted(edu.wpi.first.math.system.LinearSystem<edu.wpi.first.math.numbers.N2,edu.wpi.first.math.numbers.N1,edu.wpi.first.math.numbers.N2> plant, edu.wpi.first.math.system.plant.DCMotor gearbox, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters, double... measurementStdDevs)
    Creates a simulated elevator mechanism.
    ElevatorSimTilted(edu.wpi.first.math.system.plant.DCMotor gearbox, double gearing, double carriageMassKg, double drumRadiusMeters, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters, double... measurementStdDevs)
    Creates a simulated elevator mechanism.

  • Method Summary

    Modifier and Type
    Method
    Description
    double
    getCurrentDrawAmps()
    Returns the elevator current draw.
    double
    getPositionMeters()
    Returns the position of the elevator.
    double
    getVelocityMetersPerSecond()
    Returns the velocity of the elevator.
    boolean
    hasHitLowerLimit()
    Returns whether the elevator has hit the lower limit.
    boolean
    hasHitUpperLimit()
    Returns whether the elevator has hit the upper limit.
    void
    setInputVoltage(double volts)
    Sets the input voltage for the elevator.
    final void
    setState(double positionMeters, double velocityMetersPerSecond)
    Sets the elevator's state.
    void
    setSystemTilt(double angle)
    Sets the system's tilt to the given angle, defaults to 0 degrees for upright.
    protected edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N2,edu.wpi.first.math.numbers.N1>
    updateX(edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N2,edu.wpi.first.math.numbers.N1> currentXhat, edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N1,edu.wpi.first.math.numbers.N1> u, double dtSeconds)
    Updates the state of the elevator.
    boolean
    wouldHitLowerLimit(double elevatorHeightMeters)
    Returns whether the elevator would hit the lower limit.
    boolean
    wouldHitUpperLimit(double elevatorHeightMeters)
    Returns whether the elevator would hit the upper limit.

    Methods inherited from class edu.wpi.first.wpilibj.simulation.LinearSystemSim

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

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • ElevatorSimTilted

      public ElevatorSimTilted(edu.wpi.first.math.system.LinearSystem<edu.wpi.first.math.numbers.N2,edu.wpi.first.math.numbers.N1,edu.wpi.first.math.numbers.N2> plant, edu.wpi.first.math.system.plant.DCMotor gearbox, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters, double... measurementStdDevs)
      Creates a simulated elevator mechanism.
      Parameters:
      plant - The linear system that represents the elevator. This system can be created with LinearSystemId.createElevatorSystem(DCMotor, double, double, double).
      gearbox - The type of and number of motors in the elevator gearbox.
      minHeightMeters - The min allowable height of the elevator.
      maxHeightMeters - The max allowable height of the elevator.
      simulateGravity - Whether gravity should be simulated or not.
      startingHeightMeters - The starting height of the elevator.
      measurementStdDevs - The standard deviations of the measurements. Can be omitted if no noise is desired. If present must have 1 element for position.

    • ElevatorSimTilted

      public ElevatorSimTilted(double kV, double kA, edu.wpi.first.math.system.plant.DCMotor gearbox, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters, double... measurementStdDevs)
      Creates a simulated elevator mechanism.
      Parameters:
      kV - The velocity gain.
      kA - The acceleration gain.
      gearbox - The type of and number of motors in the elevator gearbox.
      minHeightMeters - The min allowable height of the elevator.
      maxHeightMeters - The max allowable height of the elevator.
      simulateGravity - Whether gravity should be simulated or not.
      startingHeightMeters - The starting height of the elevator.
      measurementStdDevs - The standard deviations of the measurements. Can be omitted if no noise is desired. If present must have 1 element for position.

    • ElevatorSimTilted

      public ElevatorSimTilted(edu.wpi.first.math.system.plant.DCMotor gearbox, double gearing, double carriageMassKg, double drumRadiusMeters, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, double startingHeightMeters, double... measurementStdDevs)
      Creates a simulated elevator mechanism.
      Parameters:
      gearbox - The type of and number of motors in the elevator gearbox.
      gearing - The gearing of the elevator (numbers greater than 1 represent reductions).
      carriageMassKg - The mass of the elevator carriage.
      drumRadiusMeters - The radius of the drum that the elevator spool is wrapped around.
      minHeightMeters - The min allowable height of the elevator.
      maxHeightMeters - The max allowable height of the elevator.
      simulateGravity - Whether gravity should be simulated or not.
      startingHeightMeters - The starting height of the elevator.
      measurementStdDevs - The standard deviations of the measurements. Can be omitted if no noise is desired. If present must have 1 element for position.

  • Method Details

    • setState

      public final void setState(double positionMeters, double velocityMetersPerSecond)
      Sets the elevator's state. The new position will be limited between the minimum and maximum allowed heights.
      Parameters:
      positionMeters - The new position in meters.
      velocityMetersPerSecond - New velocity in meters per second.

    • setSystemTilt

      public void setSystemTilt(double angle)
      Sets the system's tilt to the given angle, defaults to 0 degrees for upright.
      Parameters:
      angle - The tilt angle in degrees.

    • wouldHitLowerLimit

      public boolean wouldHitLowerLimit(double elevatorHeightMeters)
      Returns whether the elevator would hit the lower limit.
      Parameters:
      elevatorHeightMeters - The elevator height.
      Returns:
      Whether the elevator would hit the lower limit.

    • wouldHitUpperLimit

      public boolean wouldHitUpperLimit(double elevatorHeightMeters)
      Returns whether the elevator would hit the upper limit.
      Parameters:
      elevatorHeightMeters - The elevator height.
      Returns:
      Whether the elevator would hit the upper limit.

    • hasHitLowerLimit

      public boolean hasHitLowerLimit()
      Returns whether the elevator has hit the lower limit.
      Returns:
      Whether the elevator has hit the lower limit.

    • hasHitUpperLimit

      public boolean hasHitUpperLimit()
      Returns whether the elevator has hit the upper limit.
      Returns:
      Whether the elevator has hit the upper limit.

    • getPositionMeters

      public double getPositionMeters()
      Returns the position of the elevator.
      Returns:
      The position of the elevator.

    • getVelocityMetersPerSecond

      public double getVelocityMetersPerSecond()
      Returns the velocity of the elevator.
      Returns:
      The velocity of the elevator.

    • getCurrentDrawAmps

      public double getCurrentDrawAmps()
      Returns the elevator current draw.
      Returns:
      The elevator current draw.

    • setInputVoltage

      public void setInputVoltage(double volts)
      Sets the input voltage for the elevator.
      Parameters:
      volts - The input voltage.

    • updateX

      protected edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N2,edu.wpi.first.math.numbers.N1> updateX(edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N2,edu.wpi.first.math.numbers.N1> currentXhat, edu.wpi.first.math.Matrix<edu.wpi.first.math.numbers.N1,edu.wpi.first.math.numbers.N1> u, double dtSeconds)
      Updates the state of the elevator.
      Overrides:
      updateX in class edu.wpi.first.wpilibj.simulation.LinearSystemSim<edu.wpi.first.math.numbers.N2,edu.wpi.first.math.numbers.N1,edu.wpi.first.math.numbers.N2>
      Parameters:
      currentXhat - The current state estimate.
      u - The system inputs (voltage).
      dtSeconds - The time difference between controller updates.