DCMotorSim

class wpilib.simulation.DCMotorSim(*args, **kwargs)

Represents a simulated DC motor mechanism.

Overloaded function.

__init__(self: wpilib.simulation._simulation.DCMotorSim, plant: wpimath._controls._controls.system.LinearSystem_2_1_2, gearbox: wpimath._controls._controls.plant.DCMotor, gearing: float, measurementStdDevs: Annotated[list[float], FixedSize(2)] = [0.0, 0.0]) -> None

Creates a simulated DC motor mechanism.

Parameters:

plant – The linear system representing the DC motor. This system can be created with LinearSystemId::DCMotorSystem().
gearbox – The type of and number of motors in the DC motor gearbox.
gearing – The gearing of the DC motor (numbers greater than 1 represent reductions).
measurementStdDevs – The standard deviation of the measurement noise.

__init__(self: wpilib.simulation._simulation.DCMotorSim, gearbox: wpimath._controls._controls.plant.DCMotor, gearing: float, moi: wpimath.units.kilogram_square_meters, measurementStdDevs: Annotated[list[float], FixedSize(2)] = [0.0, 0.0]) -> None

Creates a simulated DC motor mechanism.

Parameters:

gearbox – The type of and number of motors in the DC motor gearbox.
gearing – The gearing of the DC motor (numbers greater than 1 represent reductions).
moi – The moment of inertia of the DC motor.
measurementStdDevs – The standard deviation of the measurement noise.

getAngularPosition() → wpimath.units.radians

Returns the DC motor position.

getAngularVelocity() → wpimath.units.radians_per_second

Returns the DC motor velocity.

getCurrentDraw() → wpimath.units.amperes

Returns the DC motor current draw.

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

Sets the input voltage for the DC motor.

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

Sets the state of the DC motor.

Parameters: