Package frc.robot.simulation

Class ClimbSim

java.lang.Object

edu.wpi.first.wpilibj.simulation.LinearSystemSim<N2,N1,N2>

frc.robot.simulation.ClimbSim

public class ClimbSim
extends LinearSystemSim<N2,N1,N2>

A specialized simulation for a spring-extended, motor-retracted climber.

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
ClimbSim(DCMotor gearbox, double gearing, double armMassKg, double botMassKg, double drumRadiusMeters, double minHeightMeters, double maxHeightMeters, double springForceNewtons)	Constructs a new ClimbSim.

Method Summary

Modifier and Type	Method	Description
double	getCurrentDrawAmps()	Returns the simulated current draw of the climber.
double	getPositionMeters()	Returns the current position of the climber.
double	getVelocityMetersPerSecond()	Returns the current velocity of the climber.
boolean	isHooked()	Returns whether the climber has hooked onto the bar.
void	setInputVoltage(double volts)	Sets the input voltage for the climber motors.
final void	setState(double positionMeters, double velocityMetersPerSecond)	Sets the state of the simulation.
protected Matrix<N2,N1>	updateX(Matrix<N2,N1> currentXhat, Matrix<N1,N1> u, double dtSeconds)

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

ClimbSim

public ClimbSim(DCMotor gearbox,
 double gearing,
 double armMassKg,
 double botMassKg,
 double drumRadiusMeters,
 double minHeightMeters,
 double maxHeightMeters,
 double springForceNewtons)

Constructs a new ClimbSim.

Parameters:

gearbox - The climber motor gearbox.

gearing - The total reduction (e.g., 50.0).

armMassKg - The mass of the extending climber stage.

botMassKg - The total mass of the robot.

drumRadiusMeters - The radius of the spool/drum.

minHeightMeters - The bottom limit (usually 0).

maxHeightMeters - The height at which the hook catches the bar.

springForceNewtons - The upward force provided by extension springs.

Method Details

setState

public final void setState(double positionMeters,
 double velocityMetersPerSecond)

Sets the state of the simulation.

Parameters:

positionMeters - The new position in meters.

velocityMetersPerSecond - The new velocity in meters per second.

isHooked

public boolean isHooked()

Returns whether the climber has hooked onto the bar.

Returns:

True if hooked, false otherwise.

getPositionMeters

public double getPositionMeters()

Returns the current position of the climber.

Returns:

The position in meters.

getVelocityMetersPerSecond

public double getVelocityMetersPerSecond()

Returns the current velocity of the climber.

Returns:

The velocity in meters per second.

setInputVoltage

public void setInputVoltage(double volts)

Sets the input voltage for the climber motors.

Parameters:

volts - The input voltage to apply.

getCurrentDrawAmps

public double getCurrentDrawAmps()

Returns the simulated current draw of the climber.

Returns:

The current draw in amps.

updateX

protected Matrix<N2,N1> updateX(Matrix<N2,N1> currentXhat,
 Matrix<N1,N1> u,
 double dtSeconds)

Overrides:

updateX in class LinearSystemSim<N2,N1,N2>