Package com.marslib.mechanisms

Class FlywheelIOSim

java.lang.Object

com.marslib.mechanisms.FlywheelIOSim

All Implemented Interfaces:

FlywheelIO

public class FlywheelIOSim
extends Object
implements FlywheelIO

Simulation implementation of the FlywheelIO interface. Uses WPILib's FlywheelSim to model 1D rotational dynamics and integrates with the centralized MARSPhysicsWorld electrical model for realistic battery sag accurately mapped to current draw.

Nested Class Summary

Nested classes/interfaces inherited from interface com.marslib.mechanisms.FlywheelIO

FlywheelIO.FlywheelIOInputs

Constructor Summary

Constructors

Constructor	Description
FlywheelIOSim(edu.wpi.first.math.system.plant.DCMotor gearbox, double gearing, double momentOfInertiaKgMetersSquared)	Constructs a physical simulation instance for a 1D flywheel mechanism.

Method Summary

Modifier and Type	Method	Description
void	setClosedLoopVelocity(double velocityRadPerSec, double feedforwardVolts)	Runs a low latency closed-loop velocity profile on motor with external feedforward.
void	setVoltage(double volts)
void	updateInputs(FlywheelIO.FlywheelIOInputs inputs)

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.marslib.mechanisms.FlywheelIO

setBrakeMode, setCurrentLimit

Constructor Details

FlywheelIOSim

public FlywheelIOSim(edu.wpi.first.math.system.plant.DCMotor gearbox,
 double gearing,
 double momentOfInertiaKgMetersSquared)

Constructs a physical simulation instance for a 1D flywheel mechanism.

Parameters:

gearbox - The WPILib DCMotor model representing the physical motor (e.g. Kraken X60).

gearing - The total gear reduction from motor to flywheel.

momentOfInertiaKgMetersSquared - The moment of inertia of the rotating flywheel in kg*m^2.

Method Details

updateInputs

public void updateInputs(FlywheelIO.FlywheelIOInputs inputs)

Specified by:

updateInputs in interface FlywheelIO

setVoltage

public void setVoltage(double volts)

Specified by:

setVoltage in interface FlywheelIO

setClosedLoopVelocity

public void setClosedLoopVelocity(double velocityRadPerSec,
 double feedforwardVolts)

Description copied from interface: FlywheelIO

Runs a low latency closed-loop velocity profile on motor with external feedforward.

Specified by:

setClosedLoopVelocity in interface FlywheelIO