Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-03 03:01:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

[wpimath] Fix API docs for DCMotorSim and LinearSystemId (#6904)

Browse Source
This commit is contained in:
Gold856
2024-08-01 19:41:57 -04:00
committed by GitHub
parent ad45dc89ef
commit 2fc55b86a2
3 changed files with 11 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h
View File

@@ -22,8 +22,9 @@ class DCMotorSim : public LinearSystemSim<2, 1, 2> {
* Creates a simulated DC motor mechanism.
*
* @param plant The linear system representing the DC motor. This
* system can be created with
* LinearSystemId::DCMotorSystem().
* system can be created with LinearSystemId::DCMotorSystem(). If
* LinearSystemId::DCMotorSystem(kV, kA) is used, the distance unit must be
* radians.
* @param gearbox The type of and number of motors in the DC motor
* gearbox.
* @param gearing The gearing of the DC motor (numbers greater than

5
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DCMotorSim.java
View File

@@ -25,6 +25,11 @@ public class DCMotorSim extends LinearSystemSim<N2, N1, N2> {
* Creates a simulated DC motor mechanism.
*
* @param plant The linear system representing the DC motor. This system can be created with
* {@link edu.wpi.first.math.system.plant.LinearSystemId#createDCMotorSystem(DCMotor, double,
* double)} or {@link
* edu.wpi.first.math.system.plant.LinearSystemId#createDCMotorSystem(double, double)}. If
* {@link edu.wpi.first.math.system.plant.LinearSystemId#createDCMotorSystem(double, double)}
* is used, the distance unit must be radians.
* @param gearbox The type of and number of motors in the DC motor gearbox.
* @param gearing The gearing of the DC motor (numbers greater than 1 represent reductions).
* @param measurementStdDevs The standard deviations of the measurements. Can be omitted if no

6
wpimath/src/main/java/edu/wpi/first/math/system/plant/LinearSystemId.java
View File

@@ -123,9 +123,9 @@ public final class LinearSystemId {
}
/**
* Create a state-space model of a DC motor system. The states of the system are [angular
* position, angular velocity], inputs are [voltage], and outputs are [angular position, angular
* velocity].
* Create a state-space model of a DC motor system from its kV (volts/(unit/sec)) and kA
* (volts/(unit/sec²)). These constants can be found using SysId. the states of the system are
* [position, velocity], inputs are [voltage], and outputs are [position].
*
* <p>The distance unit you choose MUST be an SI unit (i.e. meters or radians). You can use the
* {@link edu.wpi.first.math.util.Units} class for converting between unit types.