/// <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="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;
}
/// <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="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;
}
