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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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4
wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
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@@ -8,8 +8,8 @@
#include "gtest/gtest.h"
TEST(SingleJointedArmTest, Disabled) {
frc::sim::SingleJointedArmSim sim(frc::DCMotor::Vex775Pro(2), 100, 3_kg_sq_m,
9.5_in, -180_deg, 0_deg, 10_lb, true);
frc::sim::SingleJointedArmSim sim(frc::DCMotor::Vex775Pro(2), 300, 3_kg_sq_m,
30_in, -180_deg, 0_deg, true);
sim.SetState(frc::Vectord<2>{0.0, 0.0});
for (size_t i = 0; i < 12 / 0.02; ++i) {

1
wpilibc/src/test/native/cpp/simulation/StateSpaceSimTest.cpp
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@@ -18,7 +18,6 @@
#include "frc/simulation/LinearSystemSim.h"
#include "frc/simulation/PWMSim.h"
#include "frc/simulation/RoboRioSim.h"
#include "frc/simulation/SingleJointedArmSim.h"
#include "frc/system/plant/LinearSystemId.h"
#include "gtest/gtest.h"