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68 changes: 68 additions & 0 deletions
68
wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/subsystems/Arm.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/Arm.h" | ||
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| #include <frc/Preferences.h> | ||
| #include <frc/RobotController.h> | ||
| #include <frc/StateSpaceUtil.h> | ||
| #include <frc/smartdashboard/SmartDashboard.h> | ||
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| Arm::Arm() { | ||
| m_encoder.SetDistancePerPulse(kArmEncoderDistPerPulse); | ||
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| // Put Mechanism 2d to SmartDashboard | ||
| frc::SmartDashboard::PutData("Arm Sim", &m_mech2d); | ||
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| // Set the Arm position setpoint and P constant to Preferences if the keys | ||
| // don't already exist | ||
| if (!frc::Preferences::ContainsKey(kArmPositionKey)) { | ||
| frc::Preferences::SetDouble(kArmPositionKey, m_armSetpoint.value()); | ||
| } | ||
| if (!frc::Preferences::ContainsKey(kArmPKey)) { | ||
| frc::Preferences::SetDouble(kArmPKey, m_armKp); | ||
| } | ||
| } | ||
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| void Arm::SimulationPeriodic() { | ||
| // In this method, we update our simulation of what our arm is doing | ||
| // First, we set our "inputs" (voltages) | ||
| m_armSim.SetInput( | ||
| frc::Vectord<1>{m_motor.Get() * frc::RobotController::GetInputVoltage()}); | ||
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| // Next, we update it. The standard loop time is 20ms. | ||
| m_armSim.Update(20_ms); | ||
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| // Finally, we set our simulated encoder's readings and simulated battery | ||
| // voltage | ||
| m_encoderSim.SetDistance(m_armSim.GetAngle().value()); | ||
| // SimBattery estimates loaded battery voltages | ||
| frc::sim::RoboRioSim::SetVInVoltage( | ||
| frc::sim::BatterySim::Calculate({m_armSim.GetCurrentDraw()})); | ||
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| // Update the Mechanism Arm angle based on the simulated arm angle | ||
| m_arm->SetAngle(m_armSim.GetAngle()); | ||
| } | ||
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| void Arm::LoadPreferences() { | ||
| // Read Preferences for Arm setpoint and kP on entering Teleop | ||
| m_armSetpoint = units::degree_t{ | ||
| frc::Preferences::GetDouble(kArmPositionKey, m_armSetpoint.value())}; | ||
| if (m_armKp != frc::Preferences::GetDouble(kArmPKey, m_armKp)) { | ||
| m_armKp = frc::Preferences::GetDouble(kArmPKey, m_armKp); | ||
| m_controller.SetP(m_armKp); | ||
| } | ||
| } | ||
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| void Arm::ReachSetpoint() { | ||
| // Here, we run PID control like normal, with a setpoint read from | ||
| // preferences in degrees. | ||
| double pidOutput = m_controller.Calculate( | ||
| m_encoder.GetDistance(), (units::radian_t{m_armSetpoint}.value())); | ||
| m_motor.SetVoltage(units::volt_t{pidOutput}); | ||
| } | ||
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| void Arm::Stop() { | ||
| m_motor.Set(0.0); | ||
| } |
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wpilibcExamples/src/main/cpp/examples/ArmSimulation/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/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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| 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 std::string_view kArmPositionKey = "ArmPosition"; | ||
| static constexpr std::string_view kArmPKey = "ArmP"; | ||
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| static constexpr double kDefaultArmKp = 50.0; | ||
| static constexpr units::degree_t kDefaultArmSetpoint = 75.0_deg; | ||
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| static constexpr units::radian_t kMinAngle = -75.0_deg; | ||
| static constexpr units::radian_t kMaxAngle = 255.0_deg; | ||
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| static constexpr double kArmReduction = 200.0; | ||
| static constexpr units::kilogram_t kArmMass = 8.0_kg; | ||
| static constexpr units::meter_t kArmLength = 30.0_in; | ||
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| // distance per pulse = (angle per revolution) / (pulses per revolution) | ||
| // = (2 * PI rads) / (4096 pulses) | ||
| static constexpr double kArmEncoderDistPerPulse = | ||
| 2.0 * std::numbers::pi / 4096.0; |
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26
wpilibcExamples/src/main/cpp/examples/ArmSimulation/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/Arm.h" | ||
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| /** | ||
| * This is a sample program to demonstrate the use of arm simulation. | ||
| */ | ||
| class Robot : public frc::TimedRobot { | ||
| public: | ||
| void RobotInit() override {} | ||
| void SimulationPeriodic() override; | ||
| void TeleopInit() override; | ||
| void TeleopPeriodic() override; | ||
| void DisabledInit() override; | ||
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| private: | ||
| frc::Joystick m_joystick{kJoystickPort}; | ||
| Arm m_arm; | ||
| }; |
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wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/subsystems/Arm.h
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,67 @@ | ||
| // 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/ArmFeedforward.h> | ||
| #include <frc/controller/PIDController.h> | ||
| #include <frc/motorcontrol/PWMSparkMax.h> | ||
| #include <frc/simulation/BatterySim.h> | ||
| #include <frc/simulation/EncoderSim.h> | ||
| #include <frc/simulation/PWMSim.h> | ||
| #include <frc/simulation/RoboRioSim.h> | ||
| #include <frc/simulation/SingleJointedArmSim.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 Arm { | ||
| public: | ||
| Arm(); | ||
| void SimulationPeriodic(); | ||
| void LoadPreferences(); | ||
| void ReachSetpoint(); | ||
| void Stop(); | ||
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| private: | ||
| // The P gain for the PID controller that drives this arm. | ||
| double m_armKp = kDefaultArmKp; | ||
| units::degree_t m_armSetpoint = kDefaultArmSetpoint; | ||
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| // The arm gearbox represents a gearbox containing two Vex 775pro motors. | ||
| frc::DCMotor m_armGearbox = frc::DCMotor::Vex775Pro(2); | ||
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| // Standard classes for controlling our arm | ||
| frc2::PIDController m_controller{m_armKp, 0, 0}; | ||
| frc::Encoder m_encoder{kEncoderAChannel, kEncoderBChannel}; | ||
| frc::PWMSparkMax m_motor{kMotorPort}; | ||
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| // Simulation classes help us simulate what's going on, including gravity. | ||
| // This sim represents an arm with 2 775s, a 600:1 reduction, a mass of 5kg, | ||
| // 30in overall arm length, range of motion in [-75, 255] degrees, and noise | ||
| // with a standard deviation of 1 encoder tick. | ||
| frc::sim::SingleJointedArmSim m_armSim{ | ||
| m_armGearbox, | ||
| kArmReduction, | ||
| frc::sim::SingleJointedArmSim::EstimateMOI(kArmLength, kArmMass), | ||
| kArmLength, | ||
| kMinAngle, | ||
| kMaxAngle, | ||
| true, | ||
| {kArmEncoderDistPerPulse}}; | ||
| frc::sim::EncoderSim m_encoderSim{m_encoder}; | ||
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| // Create a Mechanism2d display of an Arm | ||
| frc::Mechanism2d m_mech2d{60, 60}; | ||
| frc::MechanismRoot2d* m_armBase = m_mech2d.GetRoot("ArmBase", 30, 30); | ||
| frc::MechanismLigament2d* m_armTower = | ||
| m_armBase->Append<frc::MechanismLigament2d>( | ||
| "Arm Tower", 30, -90_deg, 6, frc::Color8Bit{frc::Color::kBlue}); | ||
| frc::MechanismLigament2d* m_arm = m_armBase->Append<frc::MechanismLigament2d>( | ||
| "Arm", 30, m_armSim.GetAngle(), 6, frc::Color8Bit{frc::Color::kYellow}); | ||
| }; |
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