FlywheelSim

class wpilib.simulation.FlywheelSim(plant: wpimath._wpimath.LinearSystem_1_1_1, gearbox: wpimath._wpimath.DCMotor, measurementStdDevs: Annotated[collections.abc.Sequence[SupportsFloat | SupportsIndex], 'FixedSize(1)'] = [0.0])

Bases: LinearSystemSim_1_1_1

Represents a simulated flywheel mechanism.

Creates a simulated flywheel mechanism.

Parameters:

  • plant – The linear system representing the flywheel. This system can be created with wpi::math::Models::FlywheelFromPhysicalConstants() or wpi::math::Models::FlywheelFromSysId().

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

  • measurementStdDevs – The standard deviation of the measurement noise.

J() → wpimath.units.kilogram_square_meters

Returns the moment of inertia

gearbox() → wpimath._wpimath.DCMotor

Returns the gearbox.

gearing() → float

Returns the gearing;

getAngularAcceleration() → wpimath.units.radians_per_second_squared

Returns the flywheel’s acceleration.

Returns:

The flywheel’s acceleration

getAngularVelocity() → wpimath.units.radians_per_second

Returns the flywheel’s velocity.

Returns:

The flywheel’s velocity.

getCurrentDraw() → wpimath.units.amperes

Returns the flywheel’s current draw.

Returns:

The flywheel’s current draw.

getInputVoltage() → wpimath.units.volts

Gets the input voltage for the flywheel.

Returns:

The flywheel input voltage.

getTorque() → wpimath.units.newton_meters

Returns the flywheel’s torque.

Returns:

The flywheel’s torque

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

Sets the input voltage for the flywheel.

Parameters:

voltage – The input voltage.

setVelocity(velocity: wpimath.units.radians_per_second) → None

Sets the flywheel’s angular velocity.

Parameters:

velocity – The new velocity