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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <units/angular_acceleration.h>
#include <units/angular_velocity.h>
#include <units/moment_of_inertia.h>
#include <units/torque.h>
#include "frc/simulation/LinearSystemSim.h"
#include "frc/system/LinearSystem.h"
#include "frc/system/plant/DCMotor.h"
namespace frc::sim {
/**
* Represents a simulated flywheel mechanism.
*/
class FlywheelSim : public LinearSystemSim<1, 1, 1> {
public:
/**
* Creates a simulated flywheel mechanism.
*
* @param plant The linear system representing the flywheel. This
* system can be created with
* LinearSystemId::FlywheelSystem() or
* LinearSystemId::IdentifyVelocitySystem().
* @param gearbox The type of and number of motors in the flywheel
* gearbox.
* @param measurementStdDevs The standard deviation of the measurement noise.
*/
FlywheelSim(const LinearSystem<1, 1, 1>& plant, const DCMotor& gearbox,
const std::array<double, 1>& measurementStdDevs = {0.0});
using LinearSystemSim::SetState;
/**
* Sets the flywheel's angular velocity.
*
* @param velocity The new velocity
*/
void SetVelocity(units::radians_per_second_t velocity);
/**
* Returns the flywheel's velocity.
*
* @return The flywheel's velocity.
*/
units::radians_per_second_t GetAngularVelocity() const;
/**
* Returns the flywheel's acceleration.
*
* @return The flywheel's acceleration
*/
units::radians_per_second_squared_t GetAngularAcceleration() const;
/**
* Returns the flywheel's torque.
*
* @return The flywheel's torque
*/
units::newton_meter_t GetTorque() const;
/**
* Returns the flywheel's current draw.
*
* @return The flywheel's current draw.
*/
units::ampere_t GetCurrentDraw() const;
/**
* Gets the input voltage for the flywheel.
*
* @return The flywheel input voltage.
*/
units::volt_t GetInputVoltage() const;
/**
* Sets the input voltage for the flywheel.
*
* @param voltage The input voltage.
*/
void SetInputVoltage(units::volt_t voltage);
/**
* Returns the gearbox.
*/
DCMotor Gearbox() const { return m_gearbox; }
/**
* Returns the gearing;
*/
double Gearing() const { return m_gearing; }
/**
* Returns the moment of inertia
*/
units::kilogram_square_meter_t J() const { return m_j; }
private:
DCMotor m_gearbox;
double m_gearing;
units::kilogram_square_meter_t m_j;
};
} // namespace frc::sim