ElevatorSim

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

Bases: wpilib.simulation.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, 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.

  • 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, 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.

  • 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.