Integrated turret + flywheel + carried-ball simulator for aiming, pickup, and firing flows. More...

#include <turret_shooter_sim.hpp>

Classes
struct	Config
	Configuration for differential kinematics, ball model, and local mount geometry. More...

Public Member Functions
	TurretFlywheelSim ()=default
	TurretFlywheelSim (const Config &config)
	Constructs simulator from explicit configuration.
const Config &	config () const
	Returns current simulator configuration.
void	setTurretMountPosition (const Vector3 &mount_position_m)
	Updates turret mount origin in world frame.
void	setBaseVelocity (const Vector3 &base_velocity_mps)
	Sets base/chassis linear velocity used during carry and shot composition.
void	setMotorState (const DoubleDifferentialMechanism::MotorState &motor_state)
	Sets differential motor state directly.
const DoubleDifferentialMechanism::MotorState &	motorState () const
	Returns current differential motor state.
DoubleDifferentialMechanism::InverseResult	solveMotorStateForAim (double yaw_rad, double pitch_rad, double yaw_velocity_radps=0.0, double pitch_velocity_radps=0.0) const
	Solves inverse differential mapping for desired aim state.
bool	applyAim (double yaw_rad, double pitch_rad, double yaw_velocity_radps=0.0, double pitch_velocity_radps=0.0)
	Applies desired aim by solving and storing motor state.
DoubleDifferentialMechanism::JointState	jointState () const
	Computes current turret joint state from motor state.
Vector3	muzzlePositionWorld () const
	Computes current muzzle origin in world coordinates.
Vector3	intakePositionWorld () const
	Computes current intake center position in world coordinates.
Vector3	muzzleDirectionWorld () const
	Computes the muzzle forward firing direction in world frame.
bool	pickupBallNearby ()
	Attempts to pick up the internal ball if near intake location.
void	shoot (double muzzle_speed_mps, const Vector3 &spin_radps=Vector3::zero())
	Fires the ball using an explicit muzzle speed.
void	shootWithWheel (const FlywheelWheelSim &wheel, const Vector3 &spin_radps=Vector3::zero())
	Fires the ball using wheel-estimated exit velocity.
void	step (double dt_s)
	Advances carry/ball simulation one step.
BallPhysicsSim3D &	ball ()
	Mutable access to internal ball simulator.
const BallPhysicsSim3D &	ball () const
	Immutable access to internal ball simulator.

Detailed Description

Integrated turret + flywheel + carried-ball simulator for aiming, pickup, and firing flows.

Constructor & Destructor Documentation

◆ TurretFlywheelSim() [1/2]

frcsim::TurretFlywheelSim::TurretFlywheelSim ( )

default

◆ TurretFlywheelSim() [2/2]

frcsim::TurretFlywheelSim::TurretFlywheelSim ( const Config & config )

inlineexplicit

Constructs simulator from explicit configuration.

Parameters

config Initial turret/flywheel/ball configuration.

Member Function Documentation

◆ applyAim()

bool frcsim::TurretFlywheelSim::applyAim	(	double	yaw_rad,
		double	pitch_rad,
		double	yaw_velocity_radps = 0.0,
		double	pitch_velocity_radps = 0.0 )

inline

Applies desired aim by solving and storing motor state.

Parameters

yaw_rad	Desired yaw angle in radians.
pitch_rad	Desired pitch angle in radians.
yaw_velocity_radps	Desired yaw rate in rad/s.
pitch_velocity_radps	Desired pitch rate in rad/s.

Returns: True when inverse solve succeeded.

◆ ball() [1/2]

BallPhysicsSim3D & frcsim::TurretFlywheelSim::ball ( )

inline

Mutable access to internal ball simulator.

◆ ball() [2/2]

const BallPhysicsSim3D & frcsim::TurretFlywheelSim::ball ( ) const

inline

Immutable access to internal ball simulator.

◆ config()

const Config & frcsim::TurretFlywheelSim::config ( ) const

inline

Returns current simulator configuration.

Returns: Immutable config reference.

◆ intakePositionWorld()

Vector3 frcsim::TurretFlywheelSim::intakePositionWorld ( ) const

inline

Computes current intake center position in world coordinates.

Returns: World position of the intake center in meters.

◆ jointState()

DoubleDifferentialMechanism::JointState frcsim::TurretFlywheelSim::jointState ( ) const

inline

Computes current turret joint state from motor state.

Returns: JointState with yaw/pitch and rates.

◆ motorState()

const DoubleDifferentialMechanism::MotorState & frcsim::TurretFlywheelSim::motorState ( ) const

inline

Returns current differential motor state.

Returns: Immutable motor state reference.

◆ muzzleDirectionWorld()

Vector3 frcsim::TurretFlywheelSim::muzzleDirectionWorld ( ) const

inline

Computes the muzzle forward firing direction in world frame.

Returns: Normalized unit direction vector for projectile launch.

◆ muzzlePositionWorld()

Vector3 frcsim::TurretFlywheelSim::muzzlePositionWorld ( ) const

inline

Computes current muzzle origin in world coordinates.

Returns: World position of the muzzle in meters.

◆ pickupBallNearby()

bool frcsim::TurretFlywheelSim::pickupBallNearby ( )

inline

Attempts to pick up the internal ball if near intake location.

Returns: True if pickup succeeds.

◆ setBaseVelocity()

void frcsim::TurretFlywheelSim::setBaseVelocity ( const Vector3 & base_velocity_mps )

inline

Sets base/chassis linear velocity used during carry and shot composition.

Parameters

base_velocity_mps World velocity.

◆ setMotorState()

void frcsim::TurretFlywheelSim::setMotorState ( const DoubleDifferentialMechanism::MotorState & motor_state )

inline

Sets differential motor state directly.

Parameters

motor_state Motor positions/velocities.

◆ setTurretMountPosition()

void frcsim::TurretFlywheelSim::setTurretMountPosition ( const Vector3 & mount_position_m )

inline

Updates turret mount origin in world frame.

Parameters

mount_position_m Mount position in meters.

◆ shoot()

void frcsim::TurretFlywheelSim::shoot	(	double	muzzle_speed_mps,
		const Vector3 &	spin_radps = Vector3::zero() )

inline

Fires the ball using an explicit muzzle speed.

Parameters

muzzle_speed_mps	Launch speed in m/s.
spin_radps	Launch spin vector in rad/s.

◆ shootWithWheel()

void frcsim::TurretFlywheelSim::shootWithWheel	(	const FlywheelWheelSim &	wheel,
		const Vector3 &	spin_radps = Vector3::zero() )

inline

Fires the ball using wheel-estimated exit velocity.

Parameters

wheel	Flywheel wheel model used for speed estimate.
spin_radps	Launch spin vector in rad/s.

◆ solveMotorStateForAim()

DoubleDifferentialMechanism::InverseResult frcsim::TurretFlywheelSim::solveMotorStateForAim	(	double	yaw_rad,
		double	pitch_rad,
		double	yaw_velocity_radps = 0.0,
		double	pitch_velocity_radps = 0.0 ) const

inline

Solves inverse differential mapping for desired aim state.

Parameters

yaw_rad	Desired yaw angle in radians.
pitch_rad	Desired pitch angle in radians.
yaw_velocity_radps	Desired yaw rate in rad/s.
pitch_velocity_radps	Desired pitch rate in rad/s.

Returns: InverseResult containing motor command and validity flag.

◆ step()

void frcsim::TurretFlywheelSim::step ( double dt_s )

inline

Advances carry/ball simulation one step.

Parameters

dt_s	Timestep in seconds.

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

src/main/driver/include/frcsim/mechanisms/turret_shooter_sim.hpp

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ TurretFlywheelSim() [1/2]

◆ TurretFlywheelSim() [2/2]

Member Function Documentation

◆ applyAim()

◆ ball() [1/2]

◆ ball() [2/2]

◆ config()

◆ intakePositionWorld()

◆ jointState()

◆ motorState()

◆ muzzleDirectionWorld()

◆ muzzlePositionWorld()

◆ pickupBallNearby()

◆ setBaseVelocity()

◆ setMotorState()

◆ setTurretMountPosition()

◆ shoot()

◆ shootWithWheel()

◆ solveMotorStateForAim()

◆ step()