From 3e22e45066610be84d8eda90684e993eccb387fc Mon Sep 17 00:00:00 2001
From: Prateek Machiraju <prateek.machiraju@gmail.com>
Date: Mon, 8 Mar 2021 01:54:40 -0500
Subject: [PATCH] [wpilib] Make KoP drivetrain simulation weight 60 lbs (#3228)

---
 .../native/include/frc/simulation/DifferentialDrivetrainSim.h | 4 ++--
 .../first/wpilibj/simulation/DifferentialDrivetrainSim.java   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h b/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
index 1d47726b29..e510e18b81 100644
--- a/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
@@ -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:
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
index 19657f3dcf..fffd441d97 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
@@ -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);