Package org.ironmaple.simulation.motorsims

Class SimulatedMotorController.GenericMotorController

java.lang.Object

org.ironmaple.simulation.motorsims.SimulatedMotorController.GenericMotorController

All Implemented Interfaces:

SimulatedMotorController

Enclosing interface:

SimulatedMotorController

public static final class SimulatedMotorController.GenericMotorController
extends Object
implements SimulatedMotorController

Nested Class Summary

Nested classes/interfaces inherited from interface org.ironmaple.simulation.motorsims.SimulatedMotorController

SimulatedMotorController.GenericMotorController

Constructor Summary

Constructors

Constructor	Description
GenericMotorController(DCMotor model)

Method Summary

Modifier and Type	Method	Description
Voltage	constrainOutputVoltage(Angle encoderAngle, AngularVelocity encoderVelocity, Voltage requestedVoltage)	(Utility Function) Constrains the Output Voltage of a Motor.
void	requestVoltage(Voltage voltage)
Voltage	updateControlSignal(Angle mechanismAngle, AngularVelocity mechanismVelocity, Angle encoderAngle, AngularVelocity encoderVelocity)
SimulatedMotorController.GenericMotorController	withCurrentLimit(Current currentLimit)
SimulatedMotorController.GenericMotorController	withSoftwareLimits(Angle forwardSoftwareLimit, Angle reverseSoftwareLimit)

Methods inherited from class java.lang.Object

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

Constructor Details

GenericMotorController

public GenericMotorController(DCMotor model)

Method Details

withCurrentLimit

public SimulatedMotorController.GenericMotorController withCurrentLimit(Current currentLimit)

withSoftwareLimits

public SimulatedMotorController.GenericMotorController withSoftwareLimits(Angle forwardSoftwareLimit,
 Angle reverseSoftwareLimit)

requestVoltage

public void requestVoltage(Voltage voltage)

constrainOutputVoltage

public Voltage constrainOutputVoltage(Angle encoderAngle,
 AngularVelocity encoderVelocity,
 Voltage requestedVoltage)

(Utility Function) Constrains the Output Voltage of a Motor.

Constrains the output voltage of a motor such that the stator current does not exceed the current limit

Prevents motor from exceeding software limits

Parameters:

encoderAngle - the angle of the encoder

encoderVelocity - the velocity of the encoder

requestedVoltage - the requested voltage

Returns:

the constrained voltage that satisfied the limits

updateControlSignal

public Voltage updateControlSignal(Angle mechanismAngle,
 AngularVelocity mechanismVelocity,
 Angle encoderAngle,
 AngularVelocity encoderVelocity)

Specified by:

updateControlSignal in interface SimulatedMotorController