Package edu.wpi.first.wpilibj.simulation

Class ElevatorSim

java.lang.Object

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

edu.wpi.first.wpilibj.simulation.ElevatorSim

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

Represents a simulated elevator mechanism.

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
ElevatorSim(LinearSystem<N2,N1,N1> plant, DCMotor gearbox, double gearing, double drumRadiusMeters, double minHeightMeters, double maxHeightMeters, boolean simulateGravity)	Creates a simulated elevator mechanism.
ElevatorSim(LinearSystem<N2,N1,N1> plant, DCMotor gearbox, double gearing, double drumRadiusMeters, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, Matrix<N1,N1> measurementStdDevs)	Creates a simulated elevator mechanism.
ElevatorSim(DCMotor gearbox, double gearing, double carriageMassKg, double drumRadiusMeters, double minHeightMeters, double maxHeightMeters, boolean simulateGravity)	Creates a simulated elevator mechanism.
ElevatorSim(DCMotor gearbox, double gearing, double carriageMassKg, double drumRadiusMeters, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, Matrix<N1,N1> 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.
protected Matrix<N2,N1>	updateX(Matrix<N2,N1> currentXhat, Matrix<N1,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, 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

ElevatorSim

public ElevatorSim(LinearSystem<N2,N1,N1> plant, DCMotor gearbox, double gearing, double drumRadiusMeters, double minHeightMeters, double maxHeightMeters, boolean simulateGravity)

Creates a simulated elevator mechanism.

Parameters:

plant - The linear system that represents the elevator.

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

gearing - The gearing of the elevator (numbers greater than 1 represent reductions).

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.

ElevatorSim

public ElevatorSim(LinearSystem<N2,N1,N1> plant, DCMotor gearbox, double gearing, double drumRadiusMeters, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, Matrix<N1,N1> measurementStdDevs)

Creates a simulated elevator mechanism.

Parameters:

plant - The linear system that represents the elevator.

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

gearing - The gearing of the elevator (numbers greater than 1 represent reductions).

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.

measurementStdDevs - The standard deviations of the measurements.

ElevatorSim

public ElevatorSim(DCMotor gearbox, double gearing, double carriageMassKg, double drumRadiusMeters, double minHeightMeters, double maxHeightMeters, boolean simulateGravity)

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.

ElevatorSim

public ElevatorSim(DCMotor gearbox, double gearing, double carriageMassKg, double drumRadiusMeters, double minHeightMeters, double maxHeightMeters, boolean simulateGravity, Matrix<N1,N1> 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.

measurementStdDevs - The standard deviations of the measurements.

Method Details

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.

Overrides:

getCurrentDrawAmps in class LinearSystemSim<N2,N1,N1>

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

Updates the state of the elevator.

Overrides:

updateX in class LinearSystemSim<N2,N1,N1>

Parameters:

currentXhat - The current state estimate.

u - The system inputs (voltage).

dtSeconds - The time difference between controller updates.

Returns:

The new state.