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

Previous calculation derivation mixed up length and distance to CG.
2026-06-22 01:11:42 +00:00 · 2023-01-18 23:40:39 -05:00
parent 42c997a3c4
commit 27ba096ea1
8 changed files with 69 additions and 80 deletions
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java
@@ -14,14 +14,7 @@ import org.junit.jupiter.api.Test;
 class SingleJointedArmSimTest {
  SingleJointedArmSim m_sim =
      new SingleJointedArmSim(
-          DCMotor.getVex775Pro(2),
-          100,
-          3.0,
-          Units.inchesToMeters(19.0 / 2.0),
-          -Math.PI,
-          0.0,
-          10.0 / 2.2,
-          true);
+          DCMotor.getVex775Pro(2), 300, 3.0, Units.inchesToMeters(30.0), -Math.PI, 0.0, true);

  @Test
  void testArmDisabled() {