12#include <frc/simulation/DCMotorSim.h>
54 SimSwerveModule(units::scalar_t driveGearing, units::kilogram_square_meter_t driveInertia,
55 units::volt_t driveFrictionVoltage,
bool driveMotorInverted,
56 units::scalar_t steerGearing, units::kilogram_square_meter_t steerInertia,
57 units::volt_t steerFrictionVoltage,
bool steerMotorInverted) :
58 DriveMotor{frc::DCMotor::KrakenX60FOC(1), driveGearing, driveInertia},
59 SteerMotor{frc::DCMotor::KrakenX60FOC(1), steerGearing, steerInertia},
76 template <
typename... ModuleConstants,
77 typename = std::enable_if_t< std::conjunction_v<std::is_same<ModuleConstants, SwerveModuleConstants>...> > >
80 ModuleConstants
const &... moduleConstants) :
84 moduleConstants.DriveMotorGearRatio,
85 moduleConstants.DriveInertia,
86 moduleConstants.DriveFrictionVoltage,
87 moduleConstants.DriveMotorInverted,
88 moduleConstants.SteerMotorGearRatio,
89 moduleConstants.SteerInertia,
90 moduleConstants.SteerFrictionVoltage,
91 moduleConstants.SteerMotorInverted
97 void Update(units::second_t dt, units::volt_t supplyVoltage, std::vector<std::unique_ptr<SwerveModule>>
const &modulesToApply)
99 if (modulesToApply.size() !=
_modules.size())
return;
101 std::vector<impl::SwerveModuleState> states(modulesToApply.size());
103 for (
size_t i = 0; i < modulesToApply.size(); ++i) {
131 states[i] = modulesToApply[i]->GetCurrentState();
148 static units::volt_t
AddFriction(units::volt_t motorVoltage, units::volt_t frictionVoltage)
150 if (units::math::abs(motorVoltage) < frictionVoltage) {
152 }
else if (motorVoltage > 0_V) {
153 motorVoltage -= frictionVoltage;
155 motorVoltage += frictionVoltage;
Class to control the state of a simulated hardware::CANcoder.
Definition: CANcoderSimState.hpp:32
ctre::phoenix::StatusCode SetSupplyVoltage(units::voltage::volt_t volts)
Sets the simulated supply voltage of the CANcoder.
ctre::phoenix::StatusCode SetVelocity(units::angular_velocity::turns_per_second_t rps)
Sets the simulated velocity of the CANcoder.
ctre::phoenix::StatusCode SetRawPosition(units::angle::turn_t rotations)
Sets the simulated raw position of the CANcoder.
Class to control the state of a simulated hardware::Pigeon2.
Definition: Pigeon2SimState.hpp:31
ctre::phoenix::StatusCode SetAngularVelocityZ(units::angular_velocity::degrees_per_second_t dps)
Sets the simulated angular velocity Z component of the Pigeon2.
ctre::phoenix::StatusCode SetRawYaw(units::angle::degree_t deg)
Sets the simulated raw yaw of the Pigeon2.
Class to control the state of a simulated hardware::TalonFX.
Definition: TalonFXSimState.hpp:33
ctre::phoenix::StatusCode SetRawRotorPosition(units::angle::turn_t rotations)
Sets the simulated raw rotor position of the TalonFX.
units::voltage::volt_t GetMotorVoltage() const
Gets the simulated output voltage of the motor.
ctre::phoenix::StatusCode SetRotorVelocity(units::angular_velocity::turns_per_second_t rps)
Sets the simulated rotor velocity of the TalonFX.
ctre::phoenix::StatusCode SetSupplyVoltage(units::voltage::volt_t volts)
Sets the simulated supply voltage of the TalonFX.
ChassisReference Orientation
The orientation of the TalonFX relative to the robot chassis.
Definition: TalonFXSimState.hpp:45
Definition: SimSwerveDrivetrain.hpp:35
frc::sim::DCMotorSim DriveMotor
Reference to motor simulation for drive motor.
Definition: SimSwerveDrivetrain.hpp:38
frc::sim::DCMotorSim SteerMotor
Reference to motor simulation for the steer motor.
Definition: SimSwerveDrivetrain.hpp:40
units::volt_t DriveFrictionVoltage
Voltage necessary for the drive motor to overcome friction.
Definition: SimSwerveDrivetrain.hpp:46
bool SteerMotorInverted
Whether the steer motor is inverted.
Definition: SimSwerveDrivetrain.hpp:52
units::volt_t SteerFrictionVoltage
Voltage necessary for the steer motor to overcome friction.
Definition: SimSwerveDrivetrain.hpp:48
units::scalar_t SteerGearing
Reference to steer gearing for updating CANcoder.
Definition: SimSwerveDrivetrain.hpp:44
bool DriveMotorInverted
Whether the drive motor is inverted.
Definition: SimSwerveDrivetrain.hpp:50
units::scalar_t DriveGearing
Reference to steer gearing for updating CANcoder.
Definition: SimSwerveDrivetrain.hpp:42
SimSwerveModule(units::scalar_t driveGearing, units::kilogram_square_meter_t driveInertia, units::volt_t driveFrictionVoltage, bool driveMotorInverted, units::scalar_t steerGearing, units::kilogram_square_meter_t steerInertia, units::volt_t steerFrictionVoltage, bool steerMotorInverted)
Definition: SimSwerveDrivetrain.hpp:54
Simplified swerve drive simulation class.
Definition: SimSwerveDrivetrain.hpp:33
static units::volt_t AddFriction(units::volt_t motorVoltage, units::volt_t frictionVoltage)
Applies the effects of friction to dampen the motor voltage.
Definition: SimSwerveDrivetrain.hpp:148
impl::SwerveDriveKinematics _kinem
Definition: SimSwerveDrivetrain.hpp:72
sim::Pigeon2SimState & _pigeonSim
Definition: SimSwerveDrivetrain.hpp:69
SimSwerveDrivetrain(std::vector< Translation2d > wheelLocations, sim::Pigeon2SimState &pigeonSim, ModuleConstants const &... moduleConstants)
Definition: SimSwerveDrivetrain.hpp:78
std::vector< SimSwerveModule > _modules
Definition: SimSwerveDrivetrain.hpp:70
Rotation2d _lastAngle
Definition: SimSwerveDrivetrain.hpp:73
void Update(units::second_t dt, units::volt_t supplyVoltage, std::vector< std::unique_ptr< SwerveModule > > const &modulesToApply)
Definition: SimSwerveDrivetrain.hpp:97
Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual module ...
Definition: SwerveDriveKinematics.hpp:235
ChassisSpeeds ToChassisSpeeds(WheelSpeeds const &moduleStates) const
Performs forward kinematics to return the resulting chassis state from the given module states.
@ Clockwise_Positive
The device should read a clockwise rotation as positive motion.
@ CounterClockwise_Positive
The device should read a counter-clockwise rotation as positive motion.
Represents the state of one swerve module.
Definition: StatusCodes.h:18
units::radians_per_second_t omega
Represents the angular velocity of the robot frame.
Definition: SwerveDriveKinematics.hpp:108