frcsim::FlywheelWheelSim Class Reference

Single-wheel flywheel velocity model with optional closed-loop speed command behavior. More...

#include <shooter_wheel.hpp>

Classes
struct	MotorConfig
	DC motor approximation constants for flywheel drive. More...
struct	WheelConfig
	Flywheel wheel inertial/friction and ball-coupling parameters. More...
struct	ControlInput
	Control inputs for open-loop or simple internal velocity-loop operation. More...

Public Member Functions
	FlywheelWheelSim ()=default
	FlywheelWheelSim (const MotorConfig &motor, const WheelConfig &wheel)
	Constructs a wheel simulator with explicit motor and wheel configuration.
void	setMotorConfig (const MotorConfig &motor)
	Sets motor constants.
void	setWheelConfig (const WheelConfig &wheel)
	Sets wheel constants.
const MotorConfig &	motorConfig () const
	Returns motor configuration.
const WheelConfig &	wheelConfig () const
	Returns wheel configuration.
void	setAngularSpeedRadps (double omega_radps)
	Forces internal angular speed state.
double	angularSpeedRadps () const
	Returns current wheel angular speed.
double	surfaceSpeedMps () const
	Computes tangential speed at wheel perimeter.
double	estimatedExitVelocityMps () const
	Estimates ball exit speed from current surface speed and coupling factor.
void	step (double dt_s, const ControlInput &control)
	Advances the flywheel wheel state by one step.

Detailed Description

Single-wheel flywheel velocity model with optional closed-loop speed command behavior.

Constructor & Destructor Documentation

FlywheelWheelSim() [1/2]

frcsim::FlywheelWheelSim::FlywheelWheelSim ( )

default

FlywheelWheelSim() [2/2]

frcsim::FlywheelWheelSim::FlywheelWheelSim ( const MotorConfig & motor, const WheelConfig & wheel )

inline

Constructs a wheel simulator with explicit motor and wheel configuration.

Parameters

motor	Motor configuration constants.
wheel	Wheel mechanical configuration.

Member Function Documentation

angularSpeedRadps()

double frcsim::FlywheelWheelSim::angularSpeedRadps ( ) const

inline

Returns current wheel angular speed.

Returns

Angular speed in rad/s.

estimatedExitVelocityMps()

double frcsim::FlywheelWheelSim::estimatedExitVelocityMps ( ) const

inline

Estimates ball exit speed from current surface speed and coupling factor.

Returns

Exit speed in m/s.

motorConfig()

const MotorConfig & frcsim::FlywheelWheelSim::motorConfig ( ) const

inline

Returns motor configuration.

Returns

Immutable MotorConfig reference.

setAngularSpeedRadps()

void frcsim::FlywheelWheelSim::setAngularSpeedRadps ( double omega_radps )

inline

Forces internal angular speed state.

Parameters

omega_radps

Wheel angular speed in rad/s.

setMotorConfig()

void frcsim::FlywheelWheelSim::setMotorConfig ( const MotorConfig & motor )

inline

Sets motor constants.

Parameters

motor

New motor configuration.

setWheelConfig()

void frcsim::FlywheelWheelSim::setWheelConfig ( const WheelConfig & wheel )

inline

Sets wheel constants.

Parameters

wheel

New wheel configuration.

step()

void frcsim::FlywheelWheelSim::step ( double dt_s, const ControlInput & control )

inline

Advances the flywheel wheel state by one step.

Parameters

dt_s	Timestep in seconds.
control	Control input for this step.

surfaceSpeedMps()

double frcsim::FlywheelWheelSim::surfaceSpeedMps ( ) const

inline

Computes tangential speed at wheel perimeter.

Returns

Surface speed in m/s.

wheelConfig()

const WheelConfig & frcsim::FlywheelWheelSim::wheelConfig ( ) const

inline

Returns wheel configuration.

Returns

Immutable WheelConfig reference.

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

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