FlywheelSim¶
- class wpilib.simulation.FlywheelSim(*args, **kwargs)¶
Bases:
LinearSystemSim_1_1_1
Represents a simulated flywheel mechanism.
Overloaded function.
__init__(self: wpilib.simulation._simulation.FlywheelSim, plant: wpimath._controls._controls.system.LinearSystem_1_1_1, gearbox: wpimath._controls._controls.plant.DCMotor, gearing: float, measurementStdDevs: List[float[1]] = [0.0]) -> None
Creates a simulated flywheel mechanism.
- Parameters:
plant – The linear system representing the flywheel.
gearbox – The type of and number of motors in the flywheel gearbox.
gearing – The gearing of the flywheel (numbers greater than 1 represent reductions).
measurementStdDevs – The standard deviation of the measurement noise.
__init__(self: wpilib.simulation._simulation.FlywheelSim, gearbox: wpimath._controls._controls.plant.DCMotor, gearing: float, moi: kilogram_square_meters, measurementStdDevs: List[float[1]] = [0.0]) -> None
Creates a simulated flywheel mechanism.
- Parameters:
gearbox – The type of and number of motors in the flywheel gearbox.
gearing – The gearing of the flywheel (numbers greater than 1 represent reductions).
moi – The moment of inertia of the flywheel.
measurementStdDevs – The standard deviation of the measurement noise.
- getAngularVelocity() radians_per_second ¶
Returns the flywheel velocity.
- Returns:
The flywheel velocity.
- getCurrentDraw() amperes ¶
Returns the flywheel current draw.
- Returns:
The flywheel current draw.
- setInputVoltage(voltage: volts) None ¶
Sets the input voltage for the flywheel.
- Parameters:
voltage – The input voltage.