frcsim::Arm Class Reference

Simulates a rotational arm mechanism. More...

#include <arm.hpp>

Public Member Functions
	Arm ()=default
virtual	~Arm ()=default
virtual void	Update (double voltage, double dt)=0
	Updates the arm state based on applied voltage and physics.
virtual double	GetAngle () const =0
	Gets the current angle of the arm.
virtual double	GetVelocity () const =0
	Gets the current angular velocity of the arm.

Detailed Description

Simulates a rotational arm mechanism.

Constructor & Destructor Documentation

Arm()

frcsim::Arm::Arm ( )

default

~Arm()

virtual frcsim::Arm::~Arm ( )

virtualdefault

Member Function Documentation

GetAngle()

virtual double frcsim::Arm::GetAngle ( ) const

pure virtual

Gets the current angle of the arm.

Returns

The angle in radians.

GetVelocity()

virtual double frcsim::Arm::GetVelocity ( ) const

pure virtual

Gets the current angular velocity of the arm.

Returns

The velocity in radians per second.

Update()

virtual void frcsim::Arm::Update ( double voltage, double dt )

pure virtual

Updates the arm state based on applied voltage and physics.

Parameters

voltage	The input voltage.
dt	The timestep in seconds.

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The documentation for this class was generated from the following file:

• src/main/driver/include/frcsim/mechanisms/arm.hpp