/// <summary>
/// Initializes a new instance of the <see cref="AngularPotentiometerMechanism"/> class.
/// </summary>
/// <param name="input">The motor driving the system</param>
/// <param name="output">The Analog Input giving feedback to the system..</param>
/// <param name="model">The motor model.</param>
/// <param name="startPercentage">The starting percentage of the potentiometer from 0.</param>
/// <param name="potentiometerRotations">The number of rotations the potentiometer has.</param>
/// <param name="invertInput">if set to <c>true</c> [invert input].</param>
public AngularPotentiometerMechanism(ISimSpeedController input, SimAnalogInput output, DCMotor model,
double startPercentage, double potentiometerRotations, bool invertInput)
{
m_input = input;
m_output = output;
m_model = model;
m_maxRadians = potentiometerRotations * (Math.PI * 2);
m_minRadians = 0;
CurrentRadians = (m_maxRadians - m_minRadians) *startPercentage;
m_invert = invertInput;
m_scaler = 5 / (m_maxRadians - m_minRadians);
}
//String travel and Spool Radius in meters
/// <summary>
/// Initializes a new instance of the <see cref="LinearPotentiometerMechanism"/> class.
/// </summary>
/// <param name="input">The motor driving the system.</param>
/// <param name="output">The potentiometer giving feedback to the system.</param>
/// <param name="model">The motor model with transmission to use.</param>
/// <param name="startPercentage">The starting percentages of the potentiometer from 0.</param>
/// <param name="stringTravel">The potentiometer travel scaled to be linear (in meters).</param>
/// <param name="spoolRadius">The radius of your spool in Meters. (Use the radius of the up spool if using a cascade elevator).</param>
/// <param name="invertInput">if set to <c>true</c> [invert input].</param>
public LinearPotentiometerMechanism(ISimSpeedController input, SimAnalogInput output, DCMotor model,
double startPercentage, double stringTravel, double spoolRadius, bool invertInput)
{
m_input = input;
m_output = output;
m_model = model;
double metersPerRotation = Math.PI * (spoolRadius * 2);
double totalRotations = stringTravel / metersPerRotation;
double totalRadians = totalRotations * Math.PI * 2;
RadiansPerMeter = totalRadians / stringTravel;
m_maxRadians = totalRadians;
m_minRadians = 0;
CurrentRadians = (m_maxRadians - m_minRadians) * startPercentage;
CurrentMeters = CurrentRadians / RadiansPerMeter;
m_invert = invertInput;
m_scaler = 5/ (m_maxRadians - m_minRadians);
}
/// <summary>
/// Creates a new arm which is driven by an encoder
/// </summary>
/// <param name="input">The motor driving the system</param>
/// <param name="output">The encoder giving feedback to the system</param>
/// <param name="encoderCPR">The CPR of the encoder. If not a 1:1 ratio on the axle, scale this beforehand</param>
/// <param name="model">The transmission model to use</param>
/// <param name="startRotations">The location in rotations you want the system to start at.</param>
/// <param name="invertInput">Inverts the motor input</param>
public AngularEncoderMechanism(ISimSpeedController input, SimEncoder output, double encoderCPR, DCMotor model,
double startRotations, bool invertInput)
{
m_input = input;
m_output = output;
m_model = model;
m_invert = invertInput;
m_scaler = encoderCPR / (Math.PI * 2);
CurrentRadians = 0;
m_offset = startRotations * (Math.PI * 2);
AdjustedRadians = m_offset;
m_maxRadians = double.MaxValue;
m_minRadians = double.MinValue;
}
/// <summary>
/// Initializes a new instance of the <see cref="LinearEncoderMechanism"/> class.
/// </summary>
/// <param name="input">The motor driving the system.</param>
/// <param name="output">The encoder giving feedback to the system.</param>
/// <param name="encoderCpr">The CPR of the encoder. If not a 1:1 ratio on the axle, scale this beforehand.</param>
/// <param name="model">The transmission model to use.</param>
/// <param name="spoolRadius">The radius of your spool in Meters. (Use the radius of the up spool if using a cascade elevator).</param>
/// <param name="startHeight">The start height of your elevator relative to the reset sensor in meters. If no reset sensor then use 0.</param>
/// <param name="invertInput">if set to <c>true</c> [invert input].</param>
public LinearEncoderMechanism(ISimSpeedController input, SimEncoder output, double encoderCpr, DCMotor model,
double spoolRadius, double startHeight, bool invertInput)
{
m_input = input;
m_output = output;
m_model = model;
m_invert = invertInput;
RadiansPerMeter = 1 / spoolRadius;
m_scaler = encoderCpr / (Math.PI * 2);
m_offset = startHeight;
CurrentMeters = m_offset;
m_maxRadians = double.MaxValue;
m_minRadians = double.MinValue;
}
/// <summary>
/// Initializes a new instance of the <see cref="DriveWheelMechanism"/> class.
/// </summary>
/// <param name="motor">The motor.</param>
/// <param name="input">The input.</param>
/// <param name="wheelbaseXM">The wheelbase xm.</param>
/// <param name="wheelDiameterM">The wheel diameter m.</param>
/// <param name="output">The output.</param>
/// <param name="wheelStaticCoef">The wheel static coef.</param>
/// <param name="wheelDynamicCoef">The wheel dynamic coef.</param>
/// <param name="staticFriction">The static friction.</param>
/// <param name="dynamicFriction">The dynamic friction.</param>
public DriveWheelMechanism(DCMotor motor, ISimSpeedController input, double wheelbaseXM, double wheelDiameterM, IServoFeedback output,
double wheelStaticCoef = 1.07, double wheelDynamicCoef = 0.1, double staticFriction = 0.1, double dynamicFriction = 0.01) :
this(motor, input, wheelbaseXM, wheelDiameterM, wheelStaticCoef, wheelDynamicCoef,
staticFriction, dynamicFriction)
{
m_output = output;
}
/// <summary>
/// Initializes a new instance of the <see cref="DriveWheelMechanism"/> class.
/// </summary>
/// <param name="motor">The motor.</param>
/// <param name="input">The input.</param>
/// <param name="wheelbaseXM">The wheelbase xm.</param>
/// <param name="wheelDiameterM">The wheel diameter m.</param>
/// <param name="wheelStaticCoef">The wheel static coef.</param>
/// <param name="wheelDynamicCoef">The wheel dynamic coef.</param>
/// <param name="staticFriction">The static friction.</param>
/// <param name="dynamicFriction">The dynamic friction.</param>
public DriveWheelMechanism(DCMotor motor, ISimSpeedController input, double wheelbaseXM, double wheelDiameterM,
double wheelStaticCoef = 1.07, double wheelDynamicCoef = 0.1, double staticFriction = 0.1, double dynamicFriction = 0.01)
{
m_model = motor;
m_output = null;
m_input = input;
XPosition = -wheelbaseXM;
StaticCoef = wheelStaticCoef;
DynamicCoef = wheelDynamicCoef;
WheelDiameter = wheelDiameterM;
StaticFriction = staticFriction;
DynamicFriction = dynamicFriction;
}
/// <summary>
/// Initializes a new instance of the <see cref="ShooterWheelMechanism"/> class.
/// </summary>
/// <param name="input">The speed controller being used.</param>
/// <param name="output">The feedback output.</param>
/// <param name="model">The motor model.</param>
/// <param name="invertInput">True if the input is inverted.</param>
/// <param name="minimumVelocity">The minimum velocity in Rotations Per Minute</param>
/// <param name="deaccelConstant">The deaccel constant in Rotations Per Minute</param>
/// <param name="systemInertia">The system inertia in kg*m^2.</param>
/// <param name="cpr">The counts per rotation of the sensor.</param>
/// <exception cref="ArgumentOutOfRangeException">Shooter Wheels do not support analog inputs</exception>
public ShooterWheelMechanism(ISimSpeedController input, IServoFeedback output, DCMotor model,
bool invertInput, double minimumVelocity, double deaccelConstant, double systemInertia, double cpr)
{
if (output is SimAnalogInput)
{
throw new ArgumentOutOfRangeException(nameof(output), "Shooter Wheels do not support analog inputs");
}
m_input = input;
m_output = output;
m_model = model;
m_invert = invertInput;
m_minimumVelocity = minimumVelocity.RpmsToRadiansPerSecond();
DeaccelerationConstant = deaccelConstant.RpmsToRadiansPerSecond();
SystemInertia = systemInertia;
m_cpr = cpr;
}