Represents a simulated elevator mechanism. More...

#include <frc/simulation/ElevatorSim.h>

Inheritance diagram for frc::sim::ElevatorSim:

Public Member Functions
	ElevatorSim (const LinearSystem< 2, 1, 1 > &plant, const DCMotor &gearbox, double gearing, units::meter_t drumRadius, units::meter_t minHeight, units::meter_t maxHeight, bool simulateGravity, const std::array< double, 1 > &measurementStdDevs={0.0})
	Constructs a simulated elevator mechanism. More...

	ElevatorSim (const DCMotor &gearbox, double gearing, units::kilogram_t carriageMass, units::meter_t drumRadius, units::meter_t minHeight, units::meter_t maxHeight, bool simulateGravity, const std::array< double, 1 > &measurementStdDevs={0.0})
	Constructs a simulated elevator mechanism. More...

bool	WouldHitLowerLimit (units::meter_t elevatorHeight) const
	Returns whether the elevator would hit the lower limit. More...

bool	WouldHitUpperLimit (units::meter_t elevatorHeight) const
	Returns whether the elevator would hit the upper limit. More...

bool	HasHitLowerLimit () const
	Returns whether the elevator has hit the lower limit. More...

bool	HasHitUpperLimit () const
	Returns whether the elevator has hit the upper limit. More...

units::meter_t	GetPosition () const
	Returns the position of the elevator. More...

units::meters_per_second_t	GetVelocity () const
	Returns the velocity of the elevator. More...

units::ampere_t	GetCurrentDraw () const override
	Returns the elevator current draw. More...

void	SetInputVoltage (units::volt_t voltage)
	Sets the input voltage for the elevator. More...

Public Member Functions inherited from frc::sim::LinearSystemSim< 2, 1, 1 >
	LinearSystemSim (const LinearSystem< States, Inputs, Outputs > &system, const std::array< double, Outputs > &measurementStdDevs={})
	Creates a simulated generic linear system. More...

virtual	~LinearSystemSim ()=default

void	Update (units::second_t dt)
	Updates the simulation. More...

const Vectord< Outputs > &	GetOutput () const
	Returns the current output of the plant. More...

double	GetOutput (int row) const
	Returns an element of the current output of the plant. More...

void	SetInput (const Vectord< Inputs > &u)
	Sets the system inputs (usually voltages). More...

void	SetInput (int row, double value)

void	SetState (const Vectord< States > &state)
	Sets the system state. More...

virtual units::ampere_t	GetCurrentDraw () const
	Returns the current drawn by this simulated system. More...

Protected Member Functions
Vectord< 2 >	UpdateX (const Vectord< 2 > &currentXhat, const Vectord< 1 > &u, units::second_t dt) override
	Updates the state estimate of the elevator. More...

Protected Member Functions inherited from frc::sim::LinearSystemSim< 2, 1, 1 >
virtual Vectord< States >	UpdateX (const Vectord< States > &currentXhat, const Vectord< Inputs > &u, units::second_t dt)
	Updates the state estimate of the system. More...

Vectord< Inputs >	ClampInput (Vectord< Inputs > u)
	Clamp the input vector such that no element exceeds the given voltage. More...

Additional Inherited Members
Protected Attributes inherited from frc::sim::LinearSystemSim< 2, 1, 1 >
LinearSystem< States, Inputs, Outputs >	m_plant

Vectord< States >	m_x

Vectord< Outputs >	m_y

Vectord< Inputs >	m_u

std::array< double, Outputs >	m_measurementStdDevs

Detailed Description

Represents a simulated elevator mechanism.

Constructor & Destructor Documentation

◆ ElevatorSim() [1/2]

frc::sim::ElevatorSim::ElevatorSim	(	const LinearSystem< 2, 1, 1 > &	plant,
		const DCMotor &	gearbox,
		double	gearing,
		units::meter_t	drumRadius,
		units::meter_t	minHeight,
		units::meter_t	maxHeight,
		bool	simulateGravity,
		const std::array< double, 1 > &	measurementStdDevs = `{0.0}`
	)

Constructs a simulated elevator mechanism.

Parameters

plant	The linear system that represents the elevator.
gearbox	The type of and number of motors in your elevator gearbox.
gearing	The gearing of the elevator (numbers greater than 1 represent reductions).
drumRadius	The radius of the drum that your cable is wrapped around.
minHeight	The minimum allowed height of the elevator.
maxHeight	The maximum allowed height of the elevator.
simulateGravity	Whether gravity should be simulated or not.
measurementStdDevs	The standard deviation of the measurements.

◆ ElevatorSim() [2/2]

frc::sim::ElevatorSim::ElevatorSim	(	const DCMotor &	gearbox,
		double	gearing,
		units::kilogram_t	carriageMass,
		units::meter_t	drumRadius,
		units::meter_t	minHeight,
		units::meter_t	maxHeight,
		bool	simulateGravity,
		const std::array< double, 1 > &	measurementStdDevs = `{0.0}`
	)

Constructs a simulated elevator mechanism.

Parameters

gearbox	The type of and number of motors in your elevator gearbox.
gearing	The gearing of the elevator (numbers greater than 1 represent reductions).
carriageMass	The mass of the elevator carriage.
drumRadius	The radius of the drum that your cable is wrapped around.
minHeight	The minimum allowed height of the elevator.
maxHeight	The maximum allowed height of the elevator.
simulateGravity	Whether gravity should be simulated or not.
measurementStdDevs	The standard deviation of the measurements.

Member Function Documentation

◆ GetCurrentDraw()

units::ampere_t frc::sim::ElevatorSim::GetCurrentDraw ( ) const

overridevirtual

Returns the elevator current draw.

Returns: The elevator current draw.

Reimplemented from frc::sim::LinearSystemSim< 2, 1, 1 >.

◆ GetPosition()

units::meter_t frc::sim::ElevatorSim::GetPosition ( ) const

Returns the position of the elevator.

Returns: The position of the elevator.

◆ GetVelocity()

units::meters_per_second_t frc::sim::ElevatorSim::GetVelocity ( ) const

Returns the velocity of the elevator.

Returns: The velocity of the elevator.

◆ HasHitLowerLimit()

bool frc::sim::ElevatorSim::HasHitLowerLimit ( ) const

Returns whether the elevator has hit the lower limit.

Returns: Whether the elevator has hit the lower limit.

◆ HasHitUpperLimit()

bool frc::sim::ElevatorSim::HasHitUpperLimit ( ) const

Returns whether the elevator has hit the upper limit.

Returns: Whether the elevator has hit the upper limit.

◆ SetInputVoltage()

void frc::sim::ElevatorSim::SetInputVoltage ( units::volt_t voltage )

Sets the input voltage for the elevator.

Parameters

voltage The input voltage.

◆ UpdateX()

Vectord< 2 > frc::sim::ElevatorSim::UpdateX	(	const Vectord< 2 > &	currentXhat,
		const Vectord< 1 > &	u,
		units::second_t	dt
	)

overrideprotected

Updates the state estimate of the elevator.

Parameters

currentXhat	The current state estimate.
u	The system inputs (voltage).
dt	The time difference between controller updates.

◆ WouldHitLowerLimit()

bool frc::sim::ElevatorSim::WouldHitLowerLimit ( units::meter_t elevatorHeight ) const

Returns whether the elevator would hit the lower limit.

Parameters

elevatorHeight The elevator height.

Returns: Whether the elevator would hit the lower limit.

◆ WouldHitUpperLimit()

bool frc::sim::ElevatorSim::WouldHitUpperLimit ( units::meter_t elevatorHeight ) const

Returns whether the elevator would hit the upper limit.

Parameters

elevatorHeight The elevator height.

Returns: Whether the elevator would hit the upper limit.

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

frc/simulation/ElevatorSim.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ElevatorSim() [1/2]

◆ ElevatorSim() [2/2]

Member Function Documentation

◆ GetCurrentDraw()

◆ GetPosition()

◆ GetVelocity()

◆ HasHitLowerLimit()

◆ HasHitUpperLimit()

◆ SetInputVoltage()

◆ UpdateX()

◆ WouldHitLowerLimit()

◆ WouldHitUpperLimit()