DCMotorSim

class wpilib.simulation.DCMotorSim(plant: wpimath._wpimath.LinearSystem_2_1_2, gearbox: wpimath._wpimath.DCMotor, measurement_std_devs: 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.

• measurement_std_devs – The standard deviation of the measurement noise.

get_angular_acceleration() → wpimath.units.radians_per_second_squared

Returns the DC motor acceleration.

Returns:

The DC motor acceleration

get_angular_position() → wpimath.units.radians

Returns the DC motor position.

Returns:

The DC motor position.

get_angular_position_rotations() → wpimath.units.turns

Returns the DC motor position in rotations

get_angular_velocity() → wpimath.units.radians_per_second

Returns the DC motor velocity.

Returns:

The DC motor velocity.

get_angular_velocity_rpm() → wpimath.units.revolutions_per_minute

Returns the DC motor velocity in revolutions per minute

get_current_draw() → wpimath.units.amperes

Returns the DC motor current draw.

Returns:

The DC motor current draw.

get_gearbox() → wpimath._wpimath.DCMotor

Returns the gearbox.

get_gearing() → float

Returns the gearing;

get_input_voltage() → wpimath.units.volts

Gets the input voltage for the DC motor.

Returns:

The DC motor input voltage.

get_j() → wpimath.units.kilogram_square_meters

Returns the moment of inertia

get_torque() → wpimath.units.newton_meters

Returns the DC motor torque.

Returns:

The DC motor torque

set_angle(angular_position: wpimath.units.radians) → None

Sets the DC motor’s angular position.

Parameters:

angular_position – The new position in radians.

set_angular_velocity(angular_velocity: wpimath.units.radians_per_second) → None

Sets the DC motor’s angular velocity.

Parameters:

angular_velocity – The new velocity in radians per second.

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

Sets the input voltage for the DC motor.

Parameters:

voltage – The input voltage.

set_state(angular_position: wpimath.units.radians, angular_velocity: wpimath.units.radians_per_second) → None

Sets the state of the DC motor.

Parameters:

• angular_position – The new position

• angular_velocity – The new velocity