trick/trick_sims/SIM_wheelbot/models/Battery/src/DCBattery.cpp

#include "DCBattery.hh"
#include <iostream>


DCBattery::DCBattery(double initialIdealVoltage, double initialInternalResistance)
: actualVoltage(0), current(0), idealVoltage(initialIdealVoltage),
  internalResistance(initialInternalResistance)  {
}

void DCBattery :: update ()
{
    actualVoltage = idealVoltage - internalResistance * current;
    actualVoltage = std :: min (idealVoltage, actualVoltage);
    actualVoltage = std :: max (0.0, actualVoltage);      
}
double DCBattery :: getActualVoltage ()
{
    return actualVoltage;
}
void DCBattery :: setCurrent (double value)
{
    current = value;
}