ElevatorSim

class wpilib.simulation.ElevatorSim(*args, **kwargs)

Bases: LinearSystemSim_2_1_2

Represents a simulated elevator mechanism.

Overloaded function.

  1. __init__(self: wpilib.simulation._simulation.ElevatorSim, plant: wpimath._wpimath.LinearSystem_2_1_2, gearbox: wpimath._wpimath.DCMotor, min_height: wpimath.units.meters, max_height: wpimath.units.meters, simulate_gravity: bool, starting_height: wpimath.units.meters, measurement_std_devs: typing.Annotated[collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex], “FixedSize(2)”] = [0.0, 0.0]) -> None

Constructs a simulated elevator mechanism.

Parameters:

  • plant – The linear system that represents the elevator. This system can be created with wpi::math::Models::ElevatorFromPhysicalConstants().

  • gearbox – The type of and number of motors in your elevator gearbox.

  • min_height – The minimum allowed height of the elevator.

  • max_height – The maximum allowed height of the elevator.

  • simulate_gravity – Whether gravity should be simulated or not.

  • starting_height – The starting height of the elevator.

  • measurement_std_devs – The standard deviation of the measurements.

  1. __init__(self: wpilib.simulation._simulation.ElevatorSim, gearbox: wpimath._wpimath.DCMotor, gearing: typing.SupportsFloat | typing.SupportsIndex, carriage_mass: wpimath.units.kilograms, drum_radius: wpimath.units.meters, min_height: wpimath.units.meters, max_height: wpimath.units.meters, simulate_gravity: bool, starting_height: wpimath.units.meters, measurement_std_devs: typing.Annotated[collections.abc.Sequence[typing.SupportsFloat | typing.SupportsIndex], “FixedSize(2)”] = [0.0, 0.0]) -> None

Constructs a simulated elevator mechanism.

Parameters:

  • gearbox – The type of and number of motors in your elevator gearbox.

  • gearing – The gearing of the elevator (numbers greater than 1 represent reductions).

  • carriage_mass – The mass of the elevator carriage.

  • drum_radius – The radius of the drum that your cable is wrapped around.

  • min_height – The minimum allowed height of the elevator.

  • max_height – The maximum allowed height of the elevator.

  • simulate_gravity – Whether gravity should be simulated or not.

  • starting_height – The starting height of the elevator.

  • measurement_std_devs – The standard deviation of the measurements.

get_current_draw() → wpimath.units.amperes

Returns the elevator current draw.

Returns:

The elevator current draw.

get_position() → wpimath.units.meters

Returns the position of the elevator.

Returns:

The position of the elevator.

get_position_feet() → wpimath.units.feet
get_position_inches() → wpimath.units.inches
get_velocity() → wpimath.units.meters_per_second

Returns the velocity of the elevator.

Returns:

The velocity of the elevator.

get_velocity_fps() → wpimath.units.feet_per_second
has_hit_lower_limit() → bool

Returns whether the elevator has hit the lower limit.

Returns:

Whether the elevator has hit the lower limit.

has_hit_upper_limit() → bool

Returns whether the elevator has hit the upper limit.

Returns:

Whether the elevator has hit the upper limit.

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

Sets the input voltage for the elevator.

Parameters:

voltage – The input voltage.

set_state(position: wpimath.units.meters, velocity: wpimath.units.meters_per_second) → None

Sets the elevator’s state. The new position will be limited between the minimum and maximum allowed heights.

Parameters:

  • position – The new position

  • velocity – The new velocity

would_hit_lower_limit(elevator_height: wpimath.units.meters) → bool

Returns whether the elevator would hit the lower limit.

Parameters:

elevator_height – The elevator height.

Returns:

Whether the elevator would hit the lower limit.

would_hit_upper_limit(elevator_height: wpimath.units.meters) → bool

Returns whether the elevator would hit the upper limit.

Parameters:

elevator_height – The elevator height.

Returns:

Whether the elevator would hit the upper limit.