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

Previous calculation derivation mixed up length and distance to CG.
2026-06-20 00:51:42 +00:00 · 2023-01-18 23:40:39 -05:00
parent 42c997a3c4
commit 27ba096ea1
8 changed files with 69 additions and 80 deletions
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/cpp/Robot.cpp
@@ -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};