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, gearing: float, drumRadius: meters, minHeight: meters, maxHeight: meters, simulateGravity: bool, measurementStdDevs: List[float[1]] = [0.0]) -> None

Constructs a simulated elevator mechanism.

Parameters:

  • plant – The linear system that represents the elevator.

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

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

  • 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.

  • measurementStdDevs – The standard deviation of the measurements.

  1. __init__(self: wpilib.simulation._simulation.ElevatorSim, gearbox: wpimath._controls._controls.plant.DCMotor, gearing: float, carriageMass: kilograms, drumRadius: meters, minHeight: meters, maxHeight: meters, simulateGravity: bool, measurementStdDevs: List[float[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.

  • measurementStdDevs – The standard deviation of the measurements.

getCurrentDraw() → amperes

Returns the elevator current draw.

Returns:

The elevator current draw.

getPosition() → meters

Returns the position of the elevator.

Returns:

The position of the elevator.

getPositionFeet() → feet
getPositionInches() → inches
getVelocity() → meters_per_second

Returns the velocity of the elevator.

Returns:

The velocity of the elevator.

getVelocityFps() → 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: volts) → None

Sets the input voltage for the elevator.

Parameters:

voltage – The input voltage.

wouldHitLowerLimit(elevatorHeight: 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: 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.