Represents a simulated arm mechanism. More...

#include <frc/simulation/SingleJointedArmSim.h>

Inheritance diagram for frc::sim::SingleJointedArmSim:

Public Member Functions
	SingleJointedArmSim (const LinearSystem< 2, 1, 1 > &system, const DCMotor &gearbox, double gearing, units::meter_t armLength, units::radian_t minAngle, units::radian_t maxAngle, bool simulateGravity, const std::array< double, 1 > &measurementStdDevs={0.0})
	Creates a simulated arm mechanism. More...

	SingleJointedArmSim (const DCMotor &gearbox, double gearing, units::kilogram_square_meter_t moi, units::meter_t armLength, units::radian_t minAngle, units::radian_t maxAngle, bool simulateGravity, const std::array< double, 1 > &measurementStdDevs={0.0})
	Creates a simulated arm mechanism. More...

bool	WouldHitLowerLimit (units::radian_t armAngle) const
	Returns whether the arm would hit the lower limit. More...

bool	WouldHitUpperLimit (units::radian_t armAngle) const
	Returns whether the arm would hit the upper limit. More...

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

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

units::radian_t	GetAngle () const
	Returns the current arm angle. More...

units::radians_per_second_t	GetVelocity () const
	Returns the current arm velocity. More...

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

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

Static Public Member Functions
static constexpr units::kilogram_square_meter_t	EstimateMOI (units::meter_t length, units::kilogram_t mass)
	Calculates a rough estimate of the moment of inertia of an arm given its length and mass. 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 arm. 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 arm mechanism.

Constructor & Destructor Documentation

◆ SingleJointedArmSim() [1/2]

frc::sim::SingleJointedArmSim::SingleJointedArmSim	(	const LinearSystem< 2, 1, 1 > &	system,
		const DCMotor &	gearbox,
		double	gearing,
		units::meter_t	armLength,
		units::radian_t	minAngle,
		units::radian_t	maxAngle,
		bool	simulateGravity,
		const std::array< double, 1 > &	measurementStdDevs = `{0.0}`
	)

Creates a simulated arm mechanism.

Parameters

system	The system representing this arm.
gearbox	The type and number of motors on the arm gearbox.
gearing	The gear ratio of the arm (numbers greater than 1 represent reductions).
armLength	The length of the arm.
minAngle	The minimum angle that the arm is capable of.
maxAngle	The maximum angle that the arm is capable of.
simulateGravity	Whether gravity should be simulated or not.
measurementStdDevs	The standard deviations of the measurements.

◆ SingleJointedArmSim() [2/2]

frc::sim::SingleJointedArmSim::SingleJointedArmSim	(	const DCMotor &	gearbox,
		double	gearing,
		units::kilogram_square_meter_t	moi,
		units::meter_t	armLength,
		units::radian_t	minAngle,
		units::radian_t	maxAngle,
		bool	simulateGravity,
		const std::array< double, 1 > &	measurementStdDevs = `{0.0}`
	)

Creates a simulated arm mechanism.

Parameters

gearbox	The type and number of motors on the arm gearbox.
gearing	The gear ratio of the arm (numbers greater than 1 represent reductions).
moi	The moment of inertia of the arm. This can be calculated from CAD software.
armLength	The length of the arm.
minAngle	The minimum angle that the arm is capable of.
maxAngle	The maximum angle that the arm is capable of.
simulateGravity	Whether gravity should be simulated or not.
measurementStdDevs	The standard deviation of the measurement noise.

Member Function Documentation

◆ EstimateMOI()

static constexpr units::kilogram_square_meter_t frc::sim::SingleJointedArmSim::EstimateMOI	(	units::meter_t	length,
		units::kilogram_t	mass
	)

inlinestaticconstexpr

Calculates a rough estimate of the moment of inertia of an arm given its length and mass.

Parameters

length	The length of the arm.
mass	The mass of the arm.

Returns: The calculated moment of inertia.

◆ GetAngle()

units::radian_t frc::sim::SingleJointedArmSim::GetAngle ( ) const

Returns the current arm angle.

Returns: The current arm angle.

◆ GetCurrentDraw()

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

overridevirtual

Returns the arm current draw.

Returns: The arm current draw.

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

◆ GetVelocity()

units::radians_per_second_t frc::sim::SingleJointedArmSim::GetVelocity ( ) const

Returns the current arm velocity.

Returns: The current arm velocity.

◆ HasHitLowerLimit()

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

Returns whether the arm has hit the lower limit.

Returns: Whether the arm has hit the lower limit.

◆ HasHitUpperLimit()

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

Returns whether the arm has hit the upper limit.

Returns: Whether the arm has hit the upper limit.

◆ SetInputVoltage()

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

Sets the input voltage for the arm.

Parameters

voltage The input voltage.

◆ UpdateX()

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

overrideprotected

Updates the state estimate of the arm.

Parameters

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

◆ WouldHitLowerLimit()

bool frc::sim::SingleJointedArmSim::WouldHitLowerLimit ( units::radian_t armAngle ) const

Returns whether the arm would hit the lower limit.

Parameters

armAngle The arm height.

Returns: Whether the arm would hit the lower limit.

◆ WouldHitUpperLimit()

bool frc::sim::SingleJointedArmSim::WouldHitUpperLimit ( units::radian_t armAngle ) const

Returns whether the arm would hit the upper limit.

Parameters

armAngle The arm height.

Returns: Whether the arm would hit the upper limit.

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

frc/simulation/SingleJointedArmSim.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SingleJointedArmSim() [1/2]

◆ SingleJointedArmSim() [2/2]

Member Function Documentation

◆ EstimateMOI()

◆ GetAngle()

◆ GetCurrentDraw()

◆ GetVelocity()

◆ HasHitLowerLimit()

◆ HasHitUpperLimit()

◆ SetInputVoltage()

◆ UpdateX()

◆ WouldHitLowerLimit()

◆ WouldHitUpperLimit()