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[wpimath] Fix DCMotor.getSpeed() (#5061)

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This bug didn't occur in C++ because the units system caught it at
compile time.
This commit is contained in:
Tyler Veness
2023-02-05 13:21:16 -08:00
committed by GitHub
parent b43ec87f57
commit 2f310a748c
1 changed files with 2 additions and 1 deletions
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3
wpimath/src/main/java/edu/wpi/first/math/system/plant/DCMotor.java
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@@ -86,7 +86,8 @@ public class DCMotor {
* @return The speed of the motor.
*/
public double getSpeed(double torqueNm, double voltageInputVolts) {
return voltageInputVolts - 1.0 / KtNMPerAmp * torqueNm * rOhms * KvRadPerSecPerVolt;
return voltageInputVolts * KvRadPerSecPerVolt
- 1.0 / KtNMPerAmp * torqueNm * rOhms * KvRadPerSecPerVolt;
}
/**