Package org.ironmaple.simulation.motorsims

Class SimMotorState

java.lang.Object

org.ironmaple.simulation.motorsims.SimMotorState

public class SimMotorState
extends Object

Represents the state of a simulated motor at a given point in time.

This record holds the final angular position and velocity of the motor. It is used to track the motor's state during each simulation step.

Field Summary

Fields

Modifier and Type	Field	Description
Angle	mechanismAngularPosition
AngularVelocity	mechanismAngularVelocity

Constructor Summary

Constructors

Constructor	Description
SimMotorState(Angle mechanismAngularPosition, AngularVelocity mechanismAngularVelocity)	Constructs a new sim motor state with initial angle and velocity

Method Summary

Modifier and Type	Method	Description
void	step(Torque finalElectricTorque, Torque finalFrictionTorque, MomentOfInertia loadMOI, Time dt)	Simulates a step in the motor's motion based on the applied forces.

Methods inherited from class java.lang.Object

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

Field Details

mechanismAngularPosition

public Angle mechanismAngularPosition

mechanismAngularVelocity

public AngularVelocity mechanismAngularVelocity

Constructor Details

SimMotorState

public SimMotorState(Angle mechanismAngularPosition,
 AngularVelocity mechanismAngularVelocity)

Constructs a new sim motor state with initial angle and velocity

Parameters:

mechanismAngularPosition - the final angular position of the motor, in radians

mechanismAngularVelocity - the final angular velocity of the motor, in radians per second

Method Details

step

public void step(Torque finalElectricTorque,
 Torque finalFrictionTorque,
 MomentOfInertia loadMOI,
 Time dt)

Simulates a step in the motor's motion based on the applied forces.

This method calculates the new angular position and velocity of the motor after applying electric and frictional torques over a time step.

The method follows these steps:

• Convert all units to SI units for calculation.
• Apply the electric torque to the current angular velocity.
• Compute the change in angular velocity due to friction.
• If friction reverses the direction of angular velocity, the velocity is set to zero.
• Integrate the angular velocity to find the new position.

Parameters:

finalElectricTorque - the final applied electric torque, in Newton-meters

finalFrictionTorque - the final frictional torque, in Newton-meters

loadMOI - the moment of inertia of the load, in kilogram square meters

dt - the time step for the simulation, in seconds