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[wpilib] Fix MOI calculation error in SingleJointedArmSim (#4968)

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Previous calculation derivation mixed up length and distance to CG.
This commit is contained in:
Matt
2023-01-18 23:40:39 -05:00
committed by GitHub
parent 42c997a3c4
commit 27ba096ea1
8 changed files with 69 additions and 80 deletions
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11
wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
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@@ -30,15 +30,13 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
* @param armLength The length of the arm.
* @param minAngle The minimum angle that the arm is capable of.
* @param maxAngle The maximum angle that the arm is capable of.
* @param armMass The mass of the arm.
* @param simulateGravity Whether gravity should be simulated or not.
* @param measurementStdDevs The standard deviations of the measurements.
*/
SingleJointedArmSim(const LinearSystem<2, 1, 1>& system,
const DCMotor& gearbox, double gearing,
units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, units::kilogram_t armMass,
bool simulateGravity,
units::radian_t maxAngle, bool simulateGravity,
const std::array<double, 1>& measurementStdDevs = {0.0});
/**
* Creates a simulated arm mechanism.
@@ -51,15 +49,13 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
* @param armLength The length of the arm.
* @param minAngle The minimum angle that the arm is capable of.
* @param maxAngle The maximum angle that the arm is capable of.
* @param mass The mass of the arm.
* @param simulateGravity Whether gravity should be simulated or not.
* @param measurementStdDevs The standard deviation of the measurement noise.
*/
SingleJointedArmSim(const DCMotor& gearbox, double gearing,
units::kilogram_square_meter_t moi,
units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, units::kilogram_t mass,
bool simulateGravity,
units::radian_t maxAngle, bool simulateGravity,
const std::array<double, 1>& measurementStdDevs = {0.0});
/**
@@ -146,10 +142,9 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
units::second_t dt) override;
private:
units::meter_t m_r;
units::meter_t m_armLen;
units::radian_t m_minAngle;
units::radian_t m_maxAngle;
units::kilogram_t m_armMass;
const DCMotor m_gearbox;
double m_gearing;
bool m_simulateGravity;