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[Examples] Limit minimum battery voltage in sim to 0.1V #1600

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Nov 22, 2024
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[Examples] Limit minimum battery voltage in sim to 0.1V #1600

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55c0091
set minimum battery voltage in java + cpp sim to 0.1V
jlmcmchl Nov 21, 2024
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jlmcmchl Nov 21, 2024
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4 changes: 3 additions & 1 deletion photonlib-cpp-examples/aimandrange/src/main/cpp/Robot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,7 +125,9 @@ void Robot::SimulationPeriodic() {
units::ampere_t totalCurrent = drivetrain.GetCurrentDraw();
units::volt_t loadedBattVolts =
frc::sim::BatterySim::Calculate({totalCurrent});
frc::sim::RoboRioSim::SetVInVoltage(loadedBattVolts);
// Using max(0.1, voltage) here isn't a *physically correct* solution,
// but it avoids problems with battery voltage measuring 0.
frc::sim::RoboRioSim::SetVInVoltage(units::math::max(0.1_V, loadedBattVolts));
}

#ifndef RUNNING_FRC_TESTS
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4 changes: 3 additions & 1 deletion photonlib-cpp-examples/aimattarget/src/main/cpp/Robot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -115,7 +115,9 @@ void Robot::SimulationPeriodic() {
units::ampere_t totalCurrent = drivetrain.GetCurrentDraw();
units::volt_t loadedBattVolts =
frc::sim::BatterySim::Calculate({totalCurrent});
frc::sim::RoboRioSim::SetVInVoltage(loadedBattVolts);
// Using max(0.1, voltage) here isn't a *physically correct* solution,
// but it avoids problems with battery voltage measuring 0.
frc::sim::RoboRioSim::SetVInVoltage(units::math::max(0.1_V, loadedBattVolts));
}

#ifndef RUNNING_FRC_TESTS
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5 changes: 4 additions & 1 deletion photonlib-cpp-examples/poseest/src/main/cpp/Robot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,7 +105,10 @@ void Robot::SimulationPeriodic() {
units::ampere_t totalCurrent = drivetrain.GetCurrentDraw();
units::volt_t loadedBattVolts =
frc::sim::BatterySim::Calculate({totalCurrent});
frc::sim::RoboRioSim::SetVInVoltage(loadedBattVolts);

// Using max(0.1, voltage) here isn't a *physically correct* solution,
// but it avoids problems with battery voltage measuring 0.
frc::sim::RoboRioSim::SetVInVoltage(units::math::max(0.1_V, loadedBattVolts));
}

#ifndef RUNNING_FRC_TESTS
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8 changes: 6 additions & 2 deletions photonlib-java-examples/aimandrange/src/main/java/frc/robot/Robot.java
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Expand Up @@ -147,8 +147,12 @@ public void simulationPeriodic() {
debugField.getObject("EstimatedRobotModules").setPoses(drivetrain.getModulePoses());

// Calculate battery voltage sag due to current draw
RoboRioSim.setVInVoltage(
BatterySim.calculateDefaultBatteryLoadedVoltage(drivetrain.getCurrentDraw()));
var batteryVoltage =
BatterySim.calculateDefaultBatteryLoadedVoltage(drivetrain.getCurrentDraw());

// Using max(0.1, voltage) here isn't a *physically correct* solution,
// but it avoids problems with battery voltage measuring 0.
RoboRioSim.setVInVoltage(Math.max(0.1, batteryVoltage));
}

public void resetPose() {
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8 changes: 6 additions & 2 deletions photonlib-java-examples/aimattarget/src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -129,8 +129,12 @@ public void simulationPeriodic() {
debugField.getObject("EstimatedRobotModules").setPoses(drivetrain.getModulePoses());

// Calculate battery voltage sag due to current draw
RoboRioSim.setVInVoltage(
BatterySim.calculateDefaultBatteryLoadedVoltage(drivetrain.getCurrentDraw()));
var batteryVoltage =
BatterySim.calculateDefaultBatteryLoadedVoltage(drivetrain.getCurrentDraw());

// Using max(0.1, voltage) here isn't a *physically correct* solution,
// but it avoids problems with battery voltage measuring 0.
RoboRioSim.setVInVoltage(Math.max(0.1, batteryVoltage));
}

public void resetPose() {
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8 changes: 6 additions & 2 deletions photonlib-java-examples/poseest/src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -127,8 +127,12 @@ public void simulationPeriodic() {
gpLauncher.simulationPeriodic();

// Calculate battery voltage sag due to current draw
RoboRioSim.setVInVoltage(
BatterySim.calculateDefaultBatteryLoadedVoltage(drivetrain.getCurrentDraw()));
var batteryVoltage =
BatterySim.calculateDefaultBatteryLoadedVoltage(drivetrain.getCurrentDraw());

// Using max(0.1, voltage) here isn't a *physically correct* solution,
// but it avoids problems with battery voltage measuring 0.
RoboRioSim.setVInVoltage(Math.max(0.1, batteryVoltage));
}

public void resetPose() {
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