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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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5
wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
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@@ -63,12 +63,11 @@ class Robot : public frc::TimedRobot {
// with a standard deviation of 1 encoder tick.
frc::sim::SingleJointedArmSim m_armSim{
m_armGearbox,
600.0,
frc::sim::SingleJointedArmSim::EstimateMOI(30_in, 5_kg),
200.0,
frc::sim::SingleJointedArmSim::EstimateMOI(30_in, 8_kg),
30_in,
-75_deg,
255_deg,
5_kg,
true,
{kArmEncoderDistPerPulse}};
frc::sim::EncoderSim m_encoderSim{m_encoder};