allwpilib/wpilibc/src/main/python/semiwrap/simulation/SingleJointedArmSim.yml

classes:
  frc::sim::SingleJointedArmSim:
    typealias:
    - frc::DCMotor
    - template <int S, int I, int O> using LinearSystem = frc::LinearSystem<S, I, O>
    - template <int I> using Vectord = frc::Vectord<I>
    methods:
      SingleJointedArmSim:
        overloads:
          ? const LinearSystem<2, 1, 2>&, const DCMotor&, double, units::meter_t, units::radian_t, units::radian_t, bool, units::radian_t, const std::array<double, 2>&
          : param_override:
              measurementStdDevs:
                default: std::array<double, 2>{0.0, 0.0}
          ? const DCMotor&, double, units::kilogram_square_meter_t, units::meter_t, units::radian_t, units::radian_t, bool, units::radian_t, const std::array<double, 2>&
          : param_override:
              measurementStdDevs:
                default: std::array<double, 2>{0.0, 0.0}
      SetState:
      WouldHitLowerLimit:
      WouldHitUpperLimit:
      HasHitLowerLimit:
      HasHitUpperLimit:
      GetAngle:
      GetVelocity:
      GetCurrentDraw:
      SetInputVoltage:
      EstimateMOI:
      UpdateX:

inline_code: |-
  cls_SingleJointedArmSim
    .def("getAngleDegrees", [](SingleJointedArmSim * self) -> units::degree_t {
      return self->GetAngle();
    })
    .def("getVelocityDps", [](SingleJointedArmSim * self) -> units::degrees_per_second_t {
      return self->GetVelocity();
    })
  ;