DCMotorSim

class wpilib.simulation.DCMotorSim(plant: wpimath._wpimath.LinearSystem_2_1_2, gearbox: wpimath._wpimath.DCMotor, measurementStdDevs: Annotated[collections.abc.Sequence[SupportsFloat | SupportsIndex], 'FixedSize(2)'] = [0.0, 0.0])

Bases: LinearSystemSim_2_1_2

Represents a simulated DC motor mechanism.

Creates a simulated DC motor mechanism.

Parameters:

  • plant – The linear system representing the DC motor. This system can be created with wpi::math::Models::SingleJointedArmFromPhysicalConstants() or wpi::math::Models::SingleJointedArmFromSysId().

  • gearbox – The type of and number of motors in the DC motor gearbox.

  • measurementStdDevs – The standard deviation of the measurement noise.

getAngularAcceleration() → wpimath.units.radians_per_second_squared

Returns the DC motor acceleration.

Returns:

The DC motor acceleration

getAngularPosition() → wpimath.units.radians

Returns the DC motor position.

Returns:

The DC motor position.

getAngularPositionRotations() → wpimath.units.turns

Returns the DC motor position in rotations

getAngularVelocity() → wpimath.units.radians_per_second

Returns the DC motor velocity.

Returns:

The DC motor velocity.

getAngularVelocityRPM() → wpimath.units.revolutions_per_minute

Returns the DC motor velocity in revolutions per minute

getCurrentDraw() → wpimath.units.amperes

Returns the DC motor current draw.

Returns:

The DC motor current draw.

getGearbox() → wpimath._wpimath.DCMotor

Returns the gearbox.

getGearing() → float

Returns the gearing;

getInputVoltage() → wpimath.units.volts

Gets the input voltage for the DC motor.

Returns:

The DC motor input voltage.

getJ() → wpimath.units.kilogram_square_meters

Returns the moment of inertia

getTorque() → wpimath.units.newton_meters

Returns the DC motor torque.

Returns:

The DC motor torque

setAngle(angularPosition: wpimath.units.radians) → None

Sets the DC motor’s angular position.

Parameters:

angularPosition – The new position in radians.

setAngularVelocity(angularVelocity: wpimath.units.radians_per_second) → None

Sets the DC motor’s angular velocity.

Parameters:

angularVelocity – The new velocity in radians per second.

setInputVoltage(voltage: wpimath.units.volts) → None

Sets the input voltage for the DC motor.

Parameters:

voltage – The input voltage.

setState(angularPosition: wpimath.units.radians, angularVelocity: wpimath.units.radians_per_second) → None

Sets the state of the DC motor.

Parameters:

  • angularPosition – The new position

  • angularVelocity – The new velocity