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55 changes: 55 additions & 0 deletions
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wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/cpp/subsystems/Elevator.cpp
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| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
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| #include "subsystems/Elevator.h" | ||
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| #include <frc/RobotController.h> | ||
| #include <frc/StateSpaceUtil.h> | ||
| #include <frc/smartdashboard/SmartDashboard.h> | ||
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| Elevator::Elevator() { | ||
| m_encoder.SetDistancePerPulse(kArmEncoderDistPerPulse); | ||
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| // Put Mechanism 2d to SmartDashboard | ||
| // To view the Elevator visualization, select Network Tables -> SmartDashboard | ||
| // -> Elevator Sim | ||
| frc::SmartDashboard::PutData("Elevator Sim", &m_mech2d); | ||
| } | ||
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| void Elevator::SimulationPeriodic() { | ||
| // In this method, we update our simulation of what our elevator is doing | ||
| // First, we set our "inputs" (voltages) | ||
| m_elevatorSim.SetInput(frc::Vectord<1>{ | ||
| m_motorSim.GetSpeed() * frc::RobotController::GetInputVoltage()}); | ||
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| // Next, we update it. The standard loop time is 20ms. | ||
| m_elevatorSim.Update(20_ms); | ||
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| // Finally, we set our simulated encoder's readings and simulated battery | ||
| // voltage | ||
| m_encoderSim.SetDistance(m_elevatorSim.GetPosition().value()); | ||
| // SimBattery estimates loaded battery voltages | ||
| frc::sim::RoboRioSim::SetVInVoltage( | ||
| frc::sim::BatterySim::Calculate({m_elevatorSim.GetCurrentDraw()})); | ||
| } | ||
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| void Elevator::UpdateTelemetry() { | ||
| // Update the Elevator length based on the simulated elevator height | ||
| m_elevatorMech2d->SetLength(m_encoder.GetDistance()); | ||
| } | ||
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| void Elevator::ReachGoal(units::meter_t goal) { | ||
| m_controller.SetGoal(kSetpoint); | ||
| // With the setpoint value we run PID control like normal | ||
| double pidOutput = | ||
| m_controller.Calculate(units::meter_t{m_encoder.GetDistance()}); | ||
| units::volt_t feedforwardOutput = | ||
| m_feedforward.Calculate(m_controller.GetSetpoint().velocity); | ||
| m_motor.SetVoltage(units::volt_t{pidOutput} + feedforwardOutput); | ||
| } | ||
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| void Elevator::Stop() { | ||
| m_controller.SetGoal(0.0_m); | ||
| m_motor.Set(0.0); | ||
| } |
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wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Constants.h
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| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
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| #pragma once | ||
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| #include <numbers> | ||
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| #include <units/acceleration.h> | ||
| #include <units/angle.h> | ||
| #include <units/length.h> | ||
| #include <units/mass.h> | ||
| #include <units/time.h> | ||
| #include <units/velocity.h> | ||
| #include <units/voltage.h> | ||
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| /** | ||
| * The Constants header provides a convenient place for teams to hold robot-wide | ||
| * numerical or bool constants. This should not be used for any other purpose. | ||
| * | ||
| * It is generally a good idea to place constants into subsystem- or | ||
| * command-specific namespaces within this header, which can then be used where | ||
| * they are needed. | ||
| */ | ||
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| namespace Constants { | ||
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| static constexpr int kMotorPort = 0; | ||
| static constexpr int kEncoderAChannel = 0; | ||
| static constexpr int kEncoderBChannel = 1; | ||
| static constexpr int kJoystickPort = 0; | ||
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| static constexpr double kElevatorKp = 5.0; | ||
| static constexpr double kElevatorKi = 0.0; | ||
| static constexpr double kElevatorKd = 0.0; | ||
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| static constexpr units::volt_t kElevatorkS = 0.0_V; | ||
| static constexpr units::volt_t kElevatorkG = 0.0_V; | ||
| static constexpr auto kElevatorkV = 0.762_V / 1_mps; | ||
| static constexpr auto kElevatorkA = 0.762_V / 1_mps_sq; | ||
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| static constexpr double kElevatorGearing = 10.0; | ||
| static constexpr units::meter_t kElevatorDrumRadius = 2_in; | ||
| static constexpr units::kilogram_t kCarriageMass = 4.0_kg; | ||
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| static constexpr units::meter_t kSetpoint = 75_cm; | ||
| static constexpr units::meter_t kMinElevatorHeight = 0_cm; | ||
| static constexpr units::meter_t kMaxElevatorHeight = 1.25_m; | ||
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| // distance per pulse = (distance per revolution) / (pulses per revolution) | ||
| // = (Pi * D) / ppr | ||
| static constexpr double kArmEncoderDistPerPulse = | ||
| 2.0 * std::numbers::pi * kElevatorDrumRadius.value() / 4096.0; | ||
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| } // namespace Constants |
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wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/Robot.h
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| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
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| #pragma once | ||
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| #include <frc/Joystick.h> | ||
| #include <frc/TimedRobot.h> | ||
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| #include "subsystems/Elevator.h" | ||
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| /** | ||
| * This is a sample program to demonstrate the use of elevator simulation. | ||
| */ | ||
| class Robot : public frc::TimedRobot { | ||
| public: | ||
| void RobotInit() override {} | ||
| void RobotPeriodic() override; | ||
| void SimulationPeriodic() override; | ||
| void TeleopPeriodic() override; | ||
| void DisabledInit() override; | ||
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| private: | ||
| frc::Joystick m_joystick{kJoystickPort}; | ||
| Elevator m_elevator; | ||
| }; |
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wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.h
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| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
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| #pragma once | ||
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| #include <frc/Encoder.h> | ||
| #include <frc/controller/ElevatorFeedforward.h> | ||
| #include <frc/controller/PIDController.h> | ||
| #include <frc/controller/ProfiledPIDController.h> | ||
| #include <frc/motorcontrol/PWMSparkMax.h> | ||
| #include <frc/simulation/BatterySim.h> | ||
| #include <frc/simulation/ElevatorSim.h> | ||
| #include <frc/simulation/EncoderSim.h> | ||
| #include <frc/simulation/PWMSim.h> | ||
| #include <frc/simulation/RoboRioSim.h> | ||
| #include <frc/smartdashboard/Mechanism2d.h> | ||
| #include <frc/smartdashboard/MechanismLigament2d.h> | ||
| #include <frc/smartdashboard/MechanismRoot2d.h> | ||
| #include <units/length.h> | ||
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| #include "Constants.h" | ||
|
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| class Elevator { | ||
| public: | ||
| Elevator(); | ||
| void SimulationPeriodic(); | ||
| void UpdateTelemetry(); | ||
| void ReachGoal(units::meter_t goal); | ||
| void Stop(); | ||
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| private: | ||
| // This gearbox represents a gearbox containing 4 Vex 775pro motors. | ||
| frc::DCMotor m_elevatorGearbox = frc::DCMotor::Vex775Pro(4); | ||
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| // Standard classes for controlling our elevator | ||
| frc::TrapezoidProfile<units::meters>::Constraints m_constraints{2.45_mps, | ||
| 2.45_mps_sq}; | ||
| frc::ProfiledPIDController<units::meters> m_controller{ | ||
| kElevatorKp, kElevatorKi, kElevatorKd, m_constraints}; | ||
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| frc::ElevatorFeedforward m_feedforward{Constants::kElevatorkS, Constants::kElevatorkG, Constants::kElevatorkV, | ||
| Constants::kElevatorkA}; | ||
| frc::Encoder m_encoder{Constants::kEncoderAChannel, Constants::kEncoderBChannel}; | ||
| frc::PWMSparkMax m_motor{Constants::kMotorPort}; | ||
| frc::sim::PWMSim m_motorSim{m_motor}; | ||
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| // Simulation classes help us simulate what's going on, including gravity. | ||
| frc::sim::ElevatorSim m_elevatorSim{m_elevatorGearbox, | ||
| Constants::kElevatorGearing, | ||
| Constants::kCarriageMass, | ||
| Constants::kElevatorDrumRadius, | ||
| Constants::kMinElevatorHeight, | ||
| Constants::kMaxElevatorHeight, | ||
| true, | ||
| {0.01}}; | ||
| frc::sim::EncoderSim m_encoderSim{m_encoder}; | ||
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| // Create a Mechanism2d display of an elevator | ||
| frc::Mechanism2d m_mech2d{20, 50}; | ||
| frc::MechanismRoot2d* m_elevatorRoot = | ||
| m_mech2d.GetRoot("Elevator Root", 10, 0); | ||
| frc::MechanismLigament2d* m_elevatorMech2d = | ||
| m_elevatorRoot->Append<frc::MechanismLigament2d>( | ||
| "Elevator", m_elevatorSim.GetPosition().value(), 90_deg); | ||
| }; |
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