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[wpilib] Clean up physics simulation class APIs (#2763)

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This commit is contained in:
Prateek Machiraju
2020-10-16 00:00:45 -04:00
committed by GitHub
parent 8f3e5794b3
commit 061432147d
19 changed files with 746 additions and 483 deletions
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17
wpilibc/src/main/native/include/frc/simulation/FlywheelSim.h
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@@ -28,12 +28,10 @@ class FlywheelSim : public LinearSystemSim<1, 1, 1> {
* gearbox.
* @param gearing The gearing of the flywheel (numbers greater than
* 1 represent reductions).
* @param addNoise Whether the sim should automatically add some
* encoder noise.
* @param measurementStdDevs The standard deviation of the measurement noise.
*/
FlywheelSim(const LinearSystem<1, 1, 1>& plant, const DCMotor& gearbox,
double gearing, bool addNoise = false,
double gearing,
const std::array<double, 1>& measurementStdDevs = {0.0});
/**
@@ -44,12 +42,10 @@ class FlywheelSim : public LinearSystemSim<1, 1, 1> {
* @param gearing The gearing of the flywheel (numbers greater than
* 1 represent reductions).
* @param moi The moment of inertia of the flywheel.
* @param addNoise Whether the sim should automatically add some
* encoder noise.
* @param measurementStdDevs The standard deviation of the measurement noise.
*/
FlywheelSim(const DCMotor& gearbox, double gearing,
units::kilogram_square_meter_t moi, bool addNoise = false,
units::kilogram_square_meter_t moi,
const std::array<double, 1>& measurementStdDevs = {0.0});
/**
@@ -66,8 +62,15 @@ class FlywheelSim : public LinearSystemSim<1, 1, 1> {
*/
units::ampere_t GetCurrentDraw() const override;
/**
* Sets the input voltage for the flywheel.
*
* @param voltage The input voltage.
*/
void SetInputVoltage(units::volt_t voltage);
private:
DCMotor m_motor;
DCMotor m_gearbox;
double m_gearing;
};
} // namespace frc::sim