Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-24 01:31:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files

6
wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
View File

@@ -32,12 +32,13 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
* @param minHeight The minimum allowed height of the elevator.
* @param maxHeight The maximum allowed height of the elevator.
* @param simulateGravity Whether gravity should be simulated or not.
* @param startingHeight The starting height of the elevator.
* @param measurementStdDevs The standard deviation of the measurements.
*/
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,
bool simulateGravity, units::meter_t startingHeight,
const std::array<double, 1>& measurementStdDevs = {0.0});
/**
@@ -53,12 +54,13 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
* @param minHeight The minimum allowed height of the elevator.
* @param maxHeight The maximum allowed height of the elevator.
* @param simulateGravity Whether gravity should be simulated or not.
* @param startingHeight The starting height of the elevator.
* @param measurementStdDevs The standard deviation of the measurements.
*/
ElevatorSim(const DCMotor& gearbox, double gearing,
units::kilogram_t carriageMass, units::meter_t drumRadius,
units::meter_t minHeight, units::meter_t maxHeight,
bool simulateGravity,
bool simulateGravity, units::meter_t startingHeight,
const std::array<double, 1>& measurementStdDevs = {0.0});
/**

4
wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
View File

@@ -31,12 +31,14 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
* @param minAngle The minimum angle that the arm is capable of.
* @param maxAngle The maximum angle that the arm is capable of.
* @param simulateGravity Whether gravity should be simulated or not.
* @param startingAngle The initial position of the arm.
* @param measurementStdDevs The standard deviations of the measurements.
*/
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 = {0.0});
/**
* Creates a simulated arm mechanism.
@@ -50,12 +52,14 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
* @param minAngle The minimum angle that the arm is capable of.
* @param maxAngle The maximum angle that the arm is capable of.
* @param simulateGravity Whether gravity should be simulated or not.
* @param startingAngle The initial position of the arm.
* @param measurementStdDevs The standard deviation of the measurement noise.
*/
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 = {0.0});
/**