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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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wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
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@@ -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});
/**