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

wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp

@@ -54,9 +54,15 @@ class Robot : public frc::TimedRobot {
   // 30in overall arm length, range of motion nin [-180, 0] degrees, and noise
   // with a standard deviation of 0.5 degrees.
   frc::sim::SingleJointedArmSim m_armSim{
-      m_armGearbox, 100.0, 5_kg, 30_in,
-      -180_deg,     0_deg, true, {(0.5_deg).to<double>()},
-      true};
+      m_armGearbox,
+      100.0,
+      frc::sim::SingleJointedArmSim::EstimateMOI(30_in, 5_kg),
+      30_in,
+      -180_deg,
+      0_deg,
+      5_kg,
+      true,
+      {(0.5_deg).to<double>()}};
   frc::sim::EncoderSim m_encoderSim{m_encoder};
 
  public: