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[wpilib] Make KoP drivetrain simulation weight 60 lbs (#3228)

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This commit is contained in:
Prateek Machiraju
2021-03-08 01:54:40 -05:00
committed by GitHub
parent 79d1bd6c8f
commit 3e22e45066
2 changed files with 3 additions and 3 deletions
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4
wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
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@@ -257,7 +257,7 @@ class DifferentialDrivetrainSim {
* (26_in / 2) * (26_in / 2);
return DifferentialDrivetrainSim{
motor, gearing, batteryMoi + gearboxMoi, 25_kg,
motor, gearing, batteryMoi + gearboxMoi, 60_lb,
wheelSize / 2.0, 26_in, measurementStdDevs};
}
@@ -281,7 +281,7 @@ class DifferentialDrivetrainSim {
units::kilogram_square_meter_t J,
const std::array<double, 7>& measurementStdDevs = {}) {
return DifferentialDrivetrainSim{
motor, gearing, J, 25_kg, wheelSize / 2.0, 26_in, measurementStdDevs};
motor, gearing, J, 60_lb, wheelSize / 2.0, 26_in, measurementStdDevs};
}
private:

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
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@@ -480,7 +480,7 @@ public class DifferentialDrivetrainSim {
motor.value,
gearing.value,
jKgMetersSquared,
25 / 2.2,
Units.lbsToKilograms(60),
wheelSize.value / 2.0,
Units.inchesToMeters(26),
measurementStdDevs);