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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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6
wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
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@@ -21,7 +21,7 @@
TEST(ElevatorSimTest, StateSpaceSim) {
frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 14.67, 8_kg, 0.75_in,
0_m, 3_m, true, {0.01});
0_m, 3_m, true, 0_m, {0.01});
frc2::PIDController controller(10, 0.0, 0.0);
frc::PWMVictorSPX motor(0);
@@ -46,7 +46,7 @@ TEST(ElevatorSimTest, StateSpaceSim) {
TEST(ElevatorSimTest, MinMax) {
frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 14.67, 8_kg, 0.75_in,
0_m, 1_m, true, {0.01});
0_m, 1_m, true, 0_m, {0.01});
for (size_t i = 0; i < 100; ++i) {
sim.SetInput(frc::Vectord<1>{0.0});
sim.Update(20_ms);
@@ -66,7 +66,7 @@ TEST(ElevatorSimTest, MinMax) {
TEST(ElevatorSimTest, Stability) {
frc::sim::ElevatorSim sim{
frc::DCMotor::Vex775Pro(4), 100, 4_kg, 0.5_in, 0_m, 10_m, false};
frc::DCMotor::Vex775Pro(4), 100, 4_kg, 0.5_in, 0_m, 10_m, false, 0_m};
sim.SetState(frc::Vectord<2>{0.0, 0.0});
sim.SetInput(frc::Vectord<1>{12.0});