ElevatorSim

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

Bases: LinearSystemSim_2_1_1

Represents a simulated elevator mechanism.

Overloaded function.

  1. __init__(self: wpilib.simulation._simulation.ElevatorSim, plant: wpimath._controls._controls.system.LinearSystem_2_1_1, gearbox: wpimath._controls._controls.plant.DCMotor, minHeight: wpimath.units.meters, maxHeight: wpimath.units.meters, simulateGravity: bool, startingHeight: wpimath.units.meters, measurementStdDevs: Annotated[list[float], FixedSize(1)] = [0.0]) -> None

Constructs a simulated elevator mechanism.

Parameters:

  • plant – The linear system that represents the elevator. This system can be created with LinearSystemId::ElevatorSystem().

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

  • minHeight – The minimum allowed height of the elevator.

  • maxHeight – The maximum allowed height of the elevator.

  • simulateGravity – Whether gravity should be simulated or not.

  • startingHeight – The starting height of the elevator.

  • measurementStdDevs – The standard deviation of the measurements.

  1. __init__(self: wpilib.simulation._simulation.ElevatorSim, gearbox: wpimath._controls._controls.plant.DCMotor, gearing: float, carriageMass: wpimath.units.kilograms, drumRadius: wpimath.units.meters, minHeight: wpimath.units.meters, maxHeight: wpimath.units.meters, simulateGravity: bool, startingHeight: wpimath.units.meters, measurementStdDevs: Annotated[list[float], FixedSize(1)] = [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).

  • carriageMass – The mass of the elevator carriage.

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

  • minHeight – The minimum allowed height of the elevator.

  • maxHeight – The maximum allowed height of the elevator.

  • simulateGravity – Whether gravity should be simulated or not.

  • startingHeight – The starting height of the elevator.

  • measurementStdDevs – The standard deviation of the measurements.

getCurrentDraw() → wpimath.units.amperes

Returns the elevator current draw.

Returns:

The elevator current draw.

getPosition() → wpimath.units.meters

Returns the position of the elevator.

Returns:

The position of the elevator.

getPositionFeet() → wpimath.units.feet
getPositionInches() → wpimath.units.inches
getVelocity() → wpimath.units.meters_per_second

Returns the velocity of the elevator.

Returns:

The velocity of the elevator.

getVelocityFps() → wpimath.units.feet_per_second
hasHitLowerLimit() → bool

Returns whether the elevator has hit the lower limit.

Returns:

Whether the elevator has hit the lower limit.

hasHitUpperLimit() → bool

Returns whether the elevator has hit the upper limit.

Returns:

Whether the elevator has hit the upper limit.

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

Sets the input voltage for the elevator.

Parameters:

voltage – The input voltage.

setState(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

wouldHitLowerLimit(elevatorHeight: wpimath.units.meters) → bool

Returns whether the elevator would hit the lower limit.

Parameters:

elevatorHeight – The elevator height.

Returns:

Whether the elevator would hit the lower limit.

wouldHitUpperLimit(elevatorHeight: wpimath.units.meters) → bool

Returns whether the elevator would hit the upper limit.

Parameters:

elevatorHeight – The elevator height.

Returns:

Whether the elevator would hit the upper limit.