Package frc.robot.util.hyperdrive.simulator

Class SimulatedRobot

java.lang.Object

frc.robot.util.hyperdrive.simulator.SimulatedRobot

public class SimulatedRobot
extends java.lang.Object

Keeps information about the robot's configuration. ALL PARAMETERS FOR ALL METHODS SHOULD BE IN SI UNITS.

Constructor Summary

Constructors

Constructor	Description
SimulatedRobot(SimulatedMotor motor, double wheelRadius, double wheelBaseWidth, double gearRatio, double robotWeight, Units.FORCE weightUnit)	Creates a new SimulatedRobot.
SimulatedRobot(SimulatedMotor motor, int motorsPerSide, double wheelRadius, double wheelBaseWidth, double gearRatio, double robotWeight, Units.FORCE weightUnit, double motorUnitsPerUnit)	Creates a new SimulatedRobot.

Method Summary

Modifier and Type	Method	Description
Point2D	getCurrentPositionAndHeading()	Returns the current position of the simulated robot.
TankGyro	getGyro()	Returns the simulated robot's gyro.
double	getLeftVelocity()	Returns the current left velocity of the robot.
double	getRightVelocity()	Returns the current right velocity of the robot.
void	setCurrentPositionAndHeading(Point2D positionAndHeading)	Sets the position and heading of the simulated robot.
Point2D	update(double leftPercentOutput, double rightPercentOutput, double timeInterval)	Calculates the new position of the robot if it was driven for a certain time interval.
void	zeroPositionAndHeading()	Zeros the position and heading of the robot.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

SimulatedRobot

public SimulatedRobot(SimulatedMotor motor,
                      double wheelRadius,
                      double wheelBaseWidth,
                      double gearRatio,
                      double robotWeight,
                      Units.FORCE weightUnit)

Creates a new SimulatedRobot. Uses the default motors per side value of 2 and the default motor units per unit value of 0.472.

Parameters:

motor - The type of motor being used.

wheelRadius - The radius of the drive wheels.

wheelBaseWidth - The length between the two sets of wheels on the simulated robot

gearRatio - The gear ratio of the gearbox (wheel RPM / motor RPM)

robotWeight - The weight of the robot.

weightUnit - The units used to specify the weight.

SimulatedRobot

public SimulatedRobot(SimulatedMotor motor,
                      int motorsPerSide,
                      double wheelRadius,
                      double wheelBaseWidth,
                      double gearRatio,
                      double robotWeight,
                      Units.FORCE weightUnit,
                      double motorUnitsPerUnit)

Creates a new SimulatedRobot.

Parameters:

motor - The type of motor being used.

motorsPerSide - The number of motors per side.

wheelRadius - The radius of the drive wheels.

wheelBaseWidth - The width between the sets of wheels of the robot.

gearRatio - The gear ratio of the gearbox (wheel RPM / motorRPM);

robotWeight - The weight of the robot.

weightUnit - The units used to specify the weight.

motorUnitsPerUnit - The number of motor units (RPM, ticks, etc) per length value (inches, meters, etc)

Method Detail

getGyro

public TankGyro getGyro()

Returns the simulated robot's gyro.

Returns:

The gyro.

getCurrentPositionAndHeading

public Point2D getCurrentPositionAndHeading()

Returns the current position of the simulated robot.

Returns:

Current position and heading of the robot.

setCurrentPositionAndHeading

public void setCurrentPositionAndHeading(Point2D positionAndHeading)

Sets the position and heading of the simulated robot.

Parameters:

positionAndHeading - The new position and heading of the simulated robot.

zeroPositionAndHeading

public void zeroPositionAndHeading()

Zeros the position and heading of the robot. Because the robot is simulated, it may appear as though it teleports back to position (0, 0) when this method is called. This is expected.

getLeftVelocity

public double getLeftVelocity()

Returns the current left velocity of the robot.

Returns:

Linear velocity of robot's left wheels

getRightVelocity

public double getRightVelocity()

Returns the current right velocity of the robot.

Returns:

Linear velocity of robot's right wheels

update

public Point2D update(double leftPercentOutput,
                      double rightPercentOutput,
                      double timeInterval)

Calculates the new position of the robot if it was driven for a certain time interval.

Parameters:

leftPercentOutput - The percent output of the left motors.

rightPercentOutput - The percent output of the right motors.

timeInterval - The time interval for which the robot drives.

Returns:

The position of the robot after it drives for the specified time interval