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[wpilib] Simulation: Add ctor parameter to set starting state of mechanism sims (#5288)

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- Add a constructor parameter to configure the initial angle of the arm
- Also reorganizes cascading constructors for Java
This commit is contained in:
Sriman Achanta
2023-07-18 16:00:27 -04:00
committed by GitHub
parent 14f30752ab
commit 335e7dd89d
16 changed files with 151 additions and 96 deletions
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20
wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
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@@ -16,6 +16,7 @@ ElevatorSim::ElevatorSim(const LinearSystem<2, 1, 1>& plant,
const DCMotor& gearbox, double gearing,
units::meter_t drumRadius, units::meter_t minHeight,
units::meter_t maxHeight, bool simulateGravity,
units::meter_t startingHeight,
const std::array<double, 1>& measurementStdDevs)
: LinearSystemSim(plant, measurementStdDevs),
m_gearbox(gearbox),
@@ -23,22 +24,21 @@ ElevatorSim::ElevatorSim(const LinearSystem<2, 1, 1>& plant,
m_minHeight(minHeight),
m_maxHeight(maxHeight),
m_gearing(gearing),
m_simulateGravity(simulateGravity) {}
m_simulateGravity(simulateGravity) {
SetState(
frc::Vectord<2>{std::clamp(startingHeight, minHeight, maxHeight), 0.0});
}
ElevatorSim::ElevatorSim(const DCMotor& gearbox, double gearing,
units::kilogram_t carriageMass,
units::meter_t drumRadius, units::meter_t minHeight,
units::meter_t maxHeight, bool simulateGravity,
units::meter_t startingHeight,
const std::array<double, 1>& measurementStdDevs)
: LinearSystemSim(LinearSystemId::ElevatorSystem(gearbox, carriageMass,
drumRadius, gearing),
measurementStdDevs),
m_gearbox(gearbox),
m_drumRadius(drumRadius),
m_minHeight(minHeight),
m_maxHeight(maxHeight),
m_gearing(gearing),
m_simulateGravity(simulateGravity) {}
: ElevatorSim(LinearSystemId::ElevatorSystem(gearbox, carriageMass,
drumRadius, gearing),
gearbox, gearing, drumRadius, minHeight, maxHeight,
simulateGravity, startingHeight, measurementStdDevs) {}
bool ElevatorSim::WouldHitLowerLimit(units::meter_t elevatorHeight) const {
return elevatorHeight <= m_minHeight;

8
wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
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@@ -19,6 +19,7 @@ SingleJointedArmSim::SingleJointedArmSim(
const LinearSystem<2, 1, 1>& system, const DCMotor& gearbox, double gearing,
units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, bool simulateGravity,
units::radian_t startingAngle,
const std::array<double, 1>& measurementStdDevs)
: LinearSystemSim<2, 1, 1>(system, measurementStdDevs),
m_armLen(armLength),
@@ -26,17 +27,20 @@ SingleJointedArmSim::SingleJointedArmSim(
m_maxAngle(maxAngle),
m_gearbox(gearbox),
m_gearing(gearing),
m_simulateGravity(simulateGravity) {}
m_simulateGravity(simulateGravity) {
SetState(frc::Vectord<2>{startingAngle, 0.0});
}
SingleJointedArmSim::SingleJointedArmSim(
const DCMotor& gearbox, double gearing, units::kilogram_square_meter_t moi,
units::meter_t armLength, units::radian_t minAngle,
units::radian_t maxAngle, bool simulateGravity,
units::radian_t startingAngle,
const std::array<double, 1>& measurementStdDevs)
: SingleJointedArmSim(
LinearSystemId::SingleJointedArmSystem(gearbox, moi, gearing),
gearbox, gearing, armLength, minAngle, maxAngle, simulateGravity,
measurementStdDevs) {}
startingAngle, measurementStdDevs) {}
bool SingleJointedArmSim::WouldHitLowerLimit(units::radian_t armAngle) const {
return armAngle <= m_minAngle;